Virtual Camera Synthesis for Micromanipulation and Microassembly

— The vision system for micromanipulation and microassembly usually includes at least two cameras allowing top and lateral views of the work field. The top view is used to control the xy position of the microgripper. As for the lateral view, it allows the control of the z position. The paper describes how the lateral camera can be replaced by a virtual one using the trifocal transfer. Then, the work field is set free. The novel view synthesis method used requires only a weak calibration to recover the geometry of the scene, then, it is well suited for the vision at the microscale.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Julien Bert, Sounkalo Dembélé, Nadine Lefort-Piat
• Keywords: IROS 2006, Lateral Camera, Lateral View, Robotics, Xy Position