RA-L 202015 citations
Three-Dimensional Pose Estimation of Optically Transparent Microrobots
Maria Grammatikopoulou, Guang-Zhong Yang
Abstract
The use of microrobots for cell manipulation has a range of applications in biomedical research. Direct sensing of microrobot three-dimensional (3D) position and orientation, however, is practically challenging due to the small scale involved. This letter proposes a vision-based method for estimating the 3D pose of optically transparent microrobots based on Optical Tweezers (OT) manipulation by using Convolutional Neural Networks (CNNs). A model-based approach is used to generate the large training set required for CNNs. Detailed validation is performed to demonstrate the experimental use of the technique.
BibTeX
@inproceedings{ral2020_threedimensional,
title = {Three-Dimensional Pose Estimation of Optically Transparent Microrobots},
author = {Maria Grammatikopoulou and Guang-Zhong Yang},
booktitle = {RA-L 2020},
year = {2020}
}