Camera grids for laboratory automation

This paper presents a straightforward method for mapping a multi-camera system to inspect multiple analytical samples carried in a microtiterplate, a labware standard used in life-science laboratories today. The high number of small samples that are provided by microplates burden difficulties when designing an inspection system with a single camera. The major concern is the perspective that is unique for every sample, and only a limited number of samples can be imaged in a favourable perspective, that is directly from below or above the sample. A way to overcome this problem is to use multiple cameras. This work presents the integration of an arbitrary number of cameras to support microplates of all types and densities. It provides a mapping framework to deliver the subimages to the inspection algorithms and includes a one-step registration procedure that uses a registration plate with microplate dimensions. Furthermore, an estimation of the system's mapping uncertainty is given.