Drosophila tracking method and system based on visual servo

A fruit fly and planar technology, applied in the field of visual servo control, can solve the problems of difficult integration of microscopic imaging system, high cost, complex optical path, etc.

Active Publication Date: 2020-05-19
TSINGHUA UNIV
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Problems solved by technology

However, this system has a relatively complex optical path and high cost, making it difficult to integrate into existing microscopic imaging systems

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  • Drosophila tracking method and system based on visual servo
  • Drosophila tracking method and system based on visual servo
  • Drosophila tracking method and system based on visual servo

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Embodiment Construction

[0050] The present invention proposes a fruit fly tracking method and system based on visual servoing. The present invention will be further described in detail below in conjunction with the accompanying drawings and specific examples. The following examples are used to illustrate the present invention, but not to limit the scope of the present invention.

[0051] The present invention proposes a fruit fly tracking method based on visual servoing, the overall process is as follows figure 1 shown, including the following steps:

[0052] 1) set up the fruit fly tracking system; the overall structure of the system of the present invention is as follows figure 2 As shown, wherein the upper figure is a front view, and the lower figure is a top view; the system includes: an XY plane displacement platform 1, a fruit fly container 5, a glass slide holder 2, and a mercury lamp 4 with a green filter (hereinafter referred to as mercury light), camera 8, red filter 6, microscope object...

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Abstract

The invention provides a drosophila tracking method and system based on visual servo, and belongs to the field of visual servo control. The method comprises the following steps: firstly, establishinga drosophila tracking system, calibrating parameters of a visual servo system, extracting image features in real time to detect the position of the drosophila, estimating the position of the drosophila at the next moment, designing a visual servo control law, and controlling a displacement platform to execute a motion instruction, thereby realizing tracking of the drosophila at the current moment.According to the method, the red fluorescent protein expressed in the eyes of the drosophila is used as a marker, a proper light path design is used for assistance, a simple and high-speed image processing algorithm is used for obtaining high tracking precision, and the requirement for tracking and observing targets such as the drosophila with high athletic ability in biological research is met.

Description

technical field [0001] The invention belongs to the field of visual servo control, in particular to a visual servo-based fruit fly tracking method and system. Background technique [0002] Drosophila has always been an important research object in biogenetics because of its genetic traceability, complex behavioral capabilities and similarity of its brain function to that of vertebrates. If we want to track and observe moving targets such as fruit flies under the microscope for a continuous period of time, we still rely on simple methods such as manual adjustment or expanding the field of view. These methods are complicated to operate, and are often powerless for targets with strong athletic ability. Therefore, using the microscopic visual servo control method to track the research target can greatly simplify the operation process and improve the efficiency of the research. [0003] Lin Cong et al. used the visual servo method to track juvenile zebrafish. This method uses i...

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Application Information

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IPC IPC(8): G06T7/246G02B21/34
CPCG06T7/246G02B21/34G06T2207/10056G06T2207/10016G06T2207/20032G06T2207/30004
Inventor 徐静陈声健张伟
Owner TSINGHUA UNIV
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