MICROMANIPULATION ROBOT DEPTH EXTRACTION BASED ON MICRO IMAGE DEFOCUS FEATURE

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.