Depth estimation of optically transparent laser-driven microrobots

Maria Grammatikopoulou; Lin Zhang; Guang-Zhong Yang

IROS 2017poster7 citations

Depth estimation of optically transparent laser-driven microrobots

Maria Grammatikopoulou, Lin Zhang, Guang-Zhong Yang

Abstract

Six degree-of-freedom (DoF) pose feedback is essential for the development of closed-loop control techniques for microrobotics. This paper presents two methods for depth estimation of transparent microrobots inside an Optical Tweezers (OT) setup using image sharpness measurements and model-based tracking. The x-y position and the 3D orientation of the object are estimated using online model-based template matching. The proposed depth estimation methodologies are validated experimentally by comparing the results with the ground truth.

BibTeX

@inproceedings{iros2017_depthestimationo,
  title = {Depth estimation of optically transparent laser-driven microrobots},
  author = {Maria Grammatikopoulou and Lin Zhang and Guang-Zhong Yang},
  booktitle = {IROS 2017},
  year = {2017}
}