A micro-vision system was presented to meet the requirements of micromanipulation in the field of bioengineering. A correlation based pattern matching algorithm and a morphological method, which can be realized in the form of easy-fast-implemented discrete convolution, were employed to track at least 3 targets simultaneously and to calculate their image coordinates. The coordinates were used as feedback message to realize visual-servo control. Testing results proved that the vision-servo control could effectively improve the control quality. This implies that the vision system can meet the stringent needs of real time control.
LI Xu-dong, ZONG Guang-hua, BI Shu-sheng, ZHAO Wei.Research on Global Vision System for Bioengineering��Oriented��Micromanipulation Robot System[J] JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2002,V28(3): 249-252
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