A stereovision model applied in bio‐micromanipulation system based on stereo light microscope

A bio‐micromanipulation system is designed for manipulating micro‐objects with a length scale of tens or hundreds of microns based on stereo light microscope. The world coordinate reconstruction of points on the surface of micro‐objects is an important goal for the micromanipulation. Traditional pinhole camera model is applied widely in macrocomputer vision. However, this model will output bad data with remarkable error if it is directly used to reconstruct three‐dimensional world coordinates for stereo light microscope. Therefore, a novel and improved pinhole camera model applied in bio‐micromanipulation system is proposed in this article. The new model is composed of binocular‐pinhole model and error‐correction model. The binocular‐pinhole model is used to output the basic world coordinates. The error‐correction model is used to correct the errors from the basic world coordinates and outputs the final high‐precision world coordinates. The results show that the new model achieves a precision of 0.01 mm in the X direction, 0.01 mm in the Y direction, and 0.015 mm in the Z direction within a maximum reconstruction distance of 4.1 mm in the X direction, 2.9 mm in the Y direction, and 2.25 mm in the Z direction, and that traditional pinhole camera model achieves a lower and unsatisfactory precision of about 0.1 mm.