Scale and Rotation Invariant Two View Microgripper Detection that Uses a Planar Pattern

In automated grasping of microparts or objects with unknown dimensions and orientations, at least two cameras have to be used to acquire the depth information. In addition to recognition and reconstruction of the real-world coordinates of the target objects, the system has to be able to detect also the real-world coordinates of the microgrippers from the images. This paper presents a scale and rotation invariant microgripper detection method that uses a planar pattern. The method is suitable especially for prototyping systems, whose composition might vary between the experiments. The gripper detection is shown to be accurate enough for challenging micromanipulation tasks of small electronic components and individual paper fibers.