View planning to increase the visibility for observing micro objects using a variable view imaging system

Insufficient vision information using a conventional vision system with fixed optical parameters cannot meet the requirement for observation of micro parts with complex shapes in microassembly and micromanipulation. Small field of view, occlusion and low depth resolution are important issues. This paper presents a view planning method to increase the visibility for observation of micro objects using a variable view imaging system. The system integrates a telecentric scanner and a double wedge prisms system which can supply a flexible view with adjustable view angle and position. The best view angle is calculated by maximize the resolution of the interest surface under acceptable occlusion level. The view position is steered by visual feedback method which can keep the target inside of field of view. Simulations and experiment results shows the feasibility of the proposed approach.