Title :
Development of global vision system for biological automatic micro-manipulation system
Author :
Li, Xudong ; Zong, Guanghua ; Bi, Shusheng
Author_Institution :
Robotics Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
An automatic micro manipulation system, which aims at various kinds of operations in the field of bio-engineering has been developed. Visual servo control is usually employed to improve the performance of the system. However, the great amount of computation that is required in image processing hinders the formation of a closed-loop control system with visual servo. In this paper, efforts are made to improve the performance of the vision system in two aspects: algorithm design and hardware implementation. Methods of correlation based pattern matching and morphological operation based image processing technique are used to implement the fast visual information abstraction, thus forming a real-time visual servo control system. The system performance and the result of an experiment on gene injection are given.
Keywords :
biocontrol; computer vision; correlation methods; mathematical morphology; micromanipulators; pattern matching; real-time systems; servomechanisms; bio-engineering; correlation; gene injection; global vision system; mathematical morphology; micromanipulators; pattern matching; real-time systems; visual information abstraction; visual servoing; Algorithm design and analysis; Automatic control; Biology computing; Control systems; Hardware; Image processing; Machine vision; Pattern matching; Servomechanisms; Servosystems;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932541
