Depth estimation of optically transparent laser-driven microrobots
File(s)IROS17_1607_FI.pdf (2.89 MB)
Accepted version
Author(s)
Grammatikopoulou, M
Zhang, L
Yang, GZ
Type
Conference Paper
Abstract
Six degree-of-freedom (DoF) pose feedback is essential for the development of closed-loop control techniques for microrobotics. This paper presents two methods for depth estimation of transparent microrobots inside an Optical Tweezers (OT) setup using image sharpness measurements and model-based tracking. The x-y position and the 3D orientation of the object are estimated using online model-based template matching. The proposed depth estimation methodologies are validated experimentally by comparing the results with the ground truth.
Date Issued
2017-12-14
Date Acceptance
2017-06-15
Citation
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp.2994-2999
Publisher
IEEE
Start Page
2994
End Page
2999
Journal / Book Title
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Copyright Statement
© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Source
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Subjects
Science & Technology
Technology
Computer Science, Artificial Intelligence
Computer Science, Information Systems
Robotics
Computer Science
VISUAL TRACKING
MICROSCOPY
Publication Status
Published
Start Date
2017-09-24
Finish Date
2017-09-28
Coverage Spatial
Vancouver, BC, Canada
Date Publish Online
2017-12-14