A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
The design and analysis of spatial data structures
The design and analysis of spatial data structures
Feature extraction from faces using deformable templates
International Journal of Computer Vision
Efficient nonlinear finite element modeling of nonrigid objects via optimization of mesh models
Computer Vision and Image Understanding - Special issue on CAD-based computer vision
Physics-Based Deformable Models: Applications to Computer Vision, Graphics, and Medical Imaging
Physics-Based Deformable Models: Applications to Computer Vision, Graphics, and Medical Imaging
International Journal of Computer Vision
Real-time Rigid-body Visual Tracking in a Scanning Electron Microscope
International Journal of Robotics Research
Nanonewton Force Sensing and Control in Microrobotic Cell Manipulation
International Journal of Robotics Research
Two-dimensional, vision-based µN force sensor for microrobotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly
International Journal of Robotics Research
Miniature compliant grippers with vision-based force sensing
IEEE Transactions on Robotics
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Abstract--This paper demonstrates a method to visually measure the force distribution applied to a linearly elastic object using the contour data in an image. The force measurement is accomplished by making use of the result from linear elasticity that the displacement field of the contour of a linearly elastic object is sufficient to completely recover the force distribution applied to the object. This result leads naturally to a deformable template matching approach where the template is deformed according to the governing equations of linear elasticity. An energy minimization method is used to match the template to the contour data in the image. This technique of visually measuring forces we refer to as vision-based force measurement (VBFM). VBFM has the potential to increase the robustness and reliability of micromanipulation and biomanipulation tasks where force sensing is essential for success. The effectiveness of VBFM is demonstrated for both a microcantilever beam and a microgripper. A sensor resolution of less than +/- 3 nN for the microcantilever and +/- 3 mN for the microgripper was achieved using VBFM. Performance optimizations for the energy minimization problem are also discussed that make this algorithm feasible for real-time applications.