吕遐东, 黄心汉, 王敏, 彭刚. 基于显微图像散焦特征的微操作机器人深度信息提取[J]. 机器人, 2003, 25(4): 322-326.
引用本文: 吕遐东, 黄心汉, 王敏, 彭刚. 基于显微图像散焦特征的微操作机器人深度信息提取[J]. 机器人, 2003, 25(4): 322-326.
LÜ Xia-dong, HUANG Xin-han, WANG Min, PENG Gang. MICROMANIPULATION ROBOT DEPTH EXTRACTION BASED ON MICRO IMAGE DEFOCUS FEATURE[J]. ROBOT, 2003, 25(4): 322-326.
Citation: LÜ Xia-dong, HUANG Xin-han, WANG Min, PENG Gang. MICROMANIPULATION ROBOT DEPTH EXTRACTION BASED ON MICRO IMAGE DEFOCUS FEATURE[J]. ROBOT, 2003, 25(4): 322-326.

基于显微图像散焦特征的微操作机器人深度信息提取

MICROMANIPULATION ROBOT DEPTH EXTRACTION BASED ON MICRO IMAGE DEFOCUS FEATURE

  • 摘要: 提出了一种单目显微视觉下微操作机器人深度信息的快速提取方法,通过计算微操作空间中X-Y平面的散焦图像特征,表征图像清晰程度,从而获得机械手在Z方向的深度信息.实验特征曲线证明方法简洁快速,有效的反映了微操作深度信息的变化和机械手在纵向的运动特性.

     

    Abstract: This paper presents a depth extraction method for micromanipulation robot based on monocular micro vision. With the depth description in micro manipulating space, one kind of image features has been extracted from 2-D image plane to evaluate defocusing. It is demonstrated by experimental results that the method is available and the determined defocus feature is consistent with the robot movement property in Z direction.

     

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