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Journal of Micromechatronics , Vol. 3, No. 2, pp. 159 – 185 (2006) VSP 2006. Also available online - www.vsppub.com Image fusion and tracking for micromanipulation SUN WENTING 1 , ∗ , CHIN TECK CHAI 1 and ANDREW SHACKLOCK 2 1 School of E.E.E, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Republic of Singapore 2 Mechatronics Group, Singapore Institute of Manufacturing Technology, Singapore 638075, Republic of Singapore Abstract —In this paper, we present a method to conduct micro-image fusion and tracking. First, micro-images are matched with grouped features. Then the kinematics parameters, such as transla- tional direction, rotational angle and axis, are deduced from inter-image relations of multiple frames based on a combination of homography decomposition and particle filter paradigm. With the kine- matics parameters recovered, a mosaic of micro-images can be built up, which helps to represent the underlying micro-scene by extending the field-of-view and locate each of the micro-images in the sequence with respect to the global view. With the proposed method, localization and enlargement of the narrow field-of-view from a single micro-image can be achieved to facilitate either navigation or manipulation for micro-operation tasks. Keywords : Micro-image fusion; micro-image tracking; particle filter. 1.
Journal of Micromechatronics – Brill
Published: Jan 1, 2006
Keywords: MICRO-IMAGE FUSION; PARTICLE FILTER; MICRO-IMAGE TRACKING
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