Depth estimation of optically transparent laser-driven microrobots

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Title: Depth estimation of optically transparent laser-driven microrobots
Author(s): Grammatikopoulou, M
Zhang, L
Yang, GZ
Item 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 Tweez- ers (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.
Publication Date: 24-Sep-2017
Date of Acceptance: 15-Jun-2017
URI: http://hdl.handle.net/10044/1/49644
Publisher: IEEE
Conference Name: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Copyright Statement: This paper is embargoed until publication.
Publication Status: Accepted
Start Date: 2017-09-24
Finish Date: 2017-08-28
Conference Place: Vancouver, BC, Canada
Embargo Date: publication subject to indefinite embargo
Appears in Collections:Faculty of Engineering
Computing



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