2019 年 55 巻 11 号 p. 733-738
Recent growth of a microscope and micromanipulators have been remarkable. With the growth, micro-manipulation in the micro world (less than dozens of micro-order) is significant in a variety of fields. However, 3D-estimation in microscopic view is difficult. We have developed a high-precision depth estimation method based on difference between blur widths of a particle and a tip of micromanipulator in our previous study. In our proposed method, one shot microscopic image can estimate precisely a depth distance without lens parameters. However, our method has a problem of a derivation of the depth equation. We propose a technique to derivate the equation using by Robust estimation and Mahalanobis' distance. To confirm stability and precision of the proposed technique, we show the validity through experimented results.