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Image fusion and tracking for micromanipulation

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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 translational 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 kinematics 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.


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