Three-Dimensional Tracking at Micro-scale Using a Single Optical Microscope

3D tracking is of fundamental importance to the development of practical visual applications to micromanipulation and microassembly. In this paper, a new 3D tracking method based on CAMSHIFT and Depth-from-Defocus is developed for micromanipulation and microassembly task. CAMSHIFT algorithms used to find the size and location of moving object even the micro-objects is highly blurred. And Depth-from-defocus method is used to recover the depth information of the object from a measure of the level of defocus. The experimental results of blurring tracking and depth recovery of micro gear validate the feasibility of the proposed 3D tracking method.