针对微操作机器人在视觉伺服过程中图像清晰度判定问题，提出了基于小波包分解的图像清晰度判定方法。介绍了微操作显微视觉系统的特点，构造了基于小波包重构信号能量的图像清晰度判定特征向量．并建立了线性图像清晰度分类器。采用Fisher准则确定分类器的权向量和分界点阈值。实验数据验证了该分类器的有效性。

To deal with the image definition of the micro manipulating robot under the vision servo control, a new method for the identification of the image definition is put forward, which is based on wavelet packets. As beginning, the features of the microscope system are discussed briefly. Furthermore, the advantage of wavelet packets applied in the analysis of the signal is introduced. With the analysis of the wavelet packets, the image definition eigenvector is constructed, and the linear classifier system for the image definition is established. To work out of the authority vector and threshold of the classifier system, Fisher rule is applied, which reduces the high-degree system to one-degree system. At the end of this paper, the linear classifier system is found to perform well by experiments.