Measurement error analysis and accuracy enhancement of 2D vision system for robotic drilling
Robotics and Computer-Integrated Manufacturing
A comparison of contrast measurements in passive autofocus systems for low contrast images
Multimedia Tools and Applications
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In this work, several robust vision modules are developed and implemented for fully automated micromanipulation. These are autofocusing, object and end-effector detection, real-time tracking and optical system calibration modules. An image based visual servoing architecture and a path planning algorithm are also proposed based on the developed vision modules. Experimental results are provided to assess the performance of the proposed visual servoing approach in positioning and trajectory tracking tasks. Proposed path planning algorithm in conjunction with visual servoing imply successful micromanipulation tasks.