Tracking Algorithms for Closed-Loop Positioning of Mobile Microrobots

Visual servoing of tools and object detection are major tasks of serial micro-assembly, as the visual feedback is often the only way to track positions. High speed cameras can be used for high speed automated micromanipulation. This paper analyzes different object tracking approaches for their feasibility of high speed tracking. First, state of the art software algorithms are analyzed. Second, a hardware approach is analyzed. All algorithms are compared in terms of high-speed feasibility, movement speed and limitations. The comparison shows that hardware-based approaches are needed for update frequencies beyond 100 Hz.