微操作系统中弱视差视觉模型研究

显微双目立体视觉主要由体视显微镜和CCD图像传感器构成，基于计算机双目立体视觉原理，显微双目立体视觉在显微领域中用于三维微观定位和测量。该类视觉具有不同于宏观视觉的属性。使用弱视差描述微观视觉的成像特征以区别于传统的宏观视差。建立了新的显微视觉模型，模型中包含弱视差的级数项，反映出物空间深度信息与图像空间二维信息间存在弱的非线性关系，同时也部分矫正了物空间横向尺度的深度依赖性。

Weak Disparity Vision Model in Micromanipulation System

Binocular stereo micro vision (BSMV) based on the working principle of binocular computer stereo vision and mainly composed of stereo light microscope (SLM) and CCD image sensors is used for three-dimensional positioning and measurement in micro-domain. Because of the own attributes of BSMV, a new concept of disparity, named weak disparity, is given for distinguishing the macro disparity in this paper. A novel vision model determining the projection from three-dimensional object space to two-dimension image space is formulated. In this model, an item of series about weak disparity not only demonstrates the weak nonlinear connection between depth information in object space and two-dimensional information in image space but also partially corrects the depth-dependent of lateral scales in object space.