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Depth estimation of optically transparent laser-driven microrobots

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Title: Depth estimation of optically transparent laser-driven microrobots
Authors: 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 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.
Issue Date: 14-Dec-2017
Date of Acceptance: 15-Jun-2017
URI: http://hdl.handle.net/10044/1/49644
DOI: 10.1109/IROS.2017.8206136
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.
Conference Name: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords: Science & Technology
Computer Science, Artificial Intelligence
Computer Science, Information Systems
Computer Science
Publication Status: Published
Start Date: 2017-09-24
Finish Date: 2017-09-28
Conference Place: Vancouver, BC, Canada
Online Publication Date: 2017-12-14
Appears in Collections:Computing
Faculty of Engineering