引用本文: 曾明, 张建勋, 陈少杰, 王湘晖, 赵新. 基于高频能量参数E_h的微操作纵向深度估计[J]. 机器人, 2004, 26(4): 351-356.
ZENG Ming, ZHANG Jian-xun, CHEN Shao-jie, WANG Xiang-hui, ZHAO Xin. Estimation of Depth from Defocus for Micromanipulation Based onHigh Frequency Energy Parameter Eh[J]. ROBOT, 2004, 26(4): 351-356.
 Citation: ZENG Ming, ZHANG Jian-xun, CHEN Shao-jie, WANG Xiang-hui, ZHAO Xin. Estimation of Depth from Defocus for Micromanipulation Based onHigh Frequency Energy Parameter Eh[J]. ROBOT, 2004, 26(4): 351-356.

## Estimation of Depth from Defocus for Micromanipulation Based onHigh Frequency Energy Parameter Eh

• 摘要: 提出了利用散焦图像的高频能量参数获取深度信息的新方法．算法实现步骤分为两步：首先通过标定实验，从一组在2μm间隔深度下采集的微工具序列模糊图像中导出深度计算方程，然后，在实际深度估计中，测得深度对应的能量参数，代入深度方程，求解出深度值．在测试实验中，讨论并解决了微工具形状不均对标定实验的影响．该技术已经成功地应用到NKTYMR系列微操作机器人系统，准确快捷地完成了深度估计和自动调焦的操作．

Abstract: A new method of estimating the depth information for micro manipulation is proposed. The depth information is obtained by using high-spatial frequency energy parameters of the defocused images. The algorithm consists of two steps:firstly, the depth function is derived using a sequence of calibration images with an interval of 2μm; secondly, in the practical measurement, the depth can be calculated by using this depth equation when acquiring the energy parameter of the micro-manipulator in the certain position. In the testing experiments, the effect of micro glass needle shape on calibration experiments is analyzed and overcome. This method has been successfully applied to both ranging and rapid auto focusing in the actual micro-manipulation robot named NKTY-MR.

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