This article introduces a method for complete 3D position estimation of nearly cylindrical
objects using a passive, high-magnification, monocular vision system. The limitations
and effectiveness of this algorithm are identified by the analysis of implementation
in a real environment.
As a case study, it also proves the usability of this specialized Depth from Defocus
(DFD) algorithm for real-time sensor coupling of a microrobotical workstation.
The paper concludes that in this particular case, the described algorithm performs
depth measurement with an accuracy that is comparable to the magnitude of the micromanipulator’s