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Three-Dimensional Pose Estimation of Optically Transparent Microrobots | IEEE Journals & Magazine | IEEE Xplore

Three-Dimensional Pose Estimation of Optically Transparent Microrobots


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 orientat...Show More

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.
Published in: IEEE Robotics and Automation Letters ( Volume: 5, Issue: 1, January 2020)
Page(s): 72 - 79
Date of Publication: 18 September 2019

ISSN Information:


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