3D image reconstruction and application for micro-manipulation systems

Author

Huang, Han-Pang ; Hsiao, Fu-Jen

Author_Institution

Dept. of Mech. Eng., Nat. Taiwan Univ., Taiwan

Volume

4

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

4032

Abstract

In this paper, a microscopic 3D image is reconstructed for a micro-manipulation system. The 3D image reconstruction is based on a binocular stereo vision system. We propose a new method called "support value" to solve correspondence problems. Geometric constraints are added to reduce the ambiguities in stereo matching. Left/right consistency check is used to increase the confidence for matching results. Post-processing helps remove the outliers and make original dense disparity map smooth and reliable. The three-dimensional characteristics can be reconstructed by perspective projection. Finally, the 3D image reconstruction algorithm is successfully applied to a micro manipulation system for cell image reconstruction by a simpler and more friendly way.

Keywords

image reconstruction; micromanipulators; 3D image reconstruction; binocular stereo vision system; dense disparity map; geometric constraint; micro-manipulation system; stereo matching; support value; Atomic force microscopy; Charge coupled devices; Electron microscopy; Force sensors; Image reconstruction; Machine vision; Optical microscopy; Optical sensors; Robots; Scanning electron microscopy;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1390046

Filename

1390046