Three-Dimensional Tracking at Micro-scale Using a Single Optical Microscope

Authors:
Liguo Chen;Zhiliang Yang;Lining Sun
Affiliations:
State Key Laboratory of Robotics and System, Robotics Institute, Harbin Institute of Technology, Harbin, China 150080;State Key Laboratory of Robotics and System, Robotics Institute, Harbin Institute of Technology, Harbin, China 150080;State Key Laboratory of Robotics and System, Robotics Institute, Harbin Institute of Technology, Harbin, China 150080
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
Year:
2008

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Abstract

3D tracking is of fundamental importance to the development of practical visual applications to micromanipulation and microassembly. In this paper, a new 3D tracking method based on CAMSHIFT and Depth-from-Defocus is developed for micromanipulation and microassembly task. CAMSHIFT algorithm is used to find the size and location of moving object even the micro-objects is highly blurred. And Depth-from-defocus method is used to recover the depth information of the object from a measure of the level of defocus. The experimental results of blurring tracking and depth recovery of micro gear validate the feasibility of the proposed 3D tracking method.