Visual Control of Robots Using Range Images

Sensors

Jorge Pomares¹  Pablo Gil² 

[1] Physics, Systems Engineering and Signal Theory Department, University of Alicante, PO Box 99, Alicante 03080, Spain;

关键词: visual servoing;    ToF cameras;    self-calibration;    robotics;   

DOI  :  10.3390/s100807303

来源: mdpi

【 摘 要 】

In the last years, 3D-vision systems based on the time-of-flight (ToF) principle have gained more importance in order to obtain 3D information from the workspace. In this paper, an analysis of the use of 3D ToF cameras to guide a robot arm is performed. To do so, an adaptive method to simultaneous visual servo control and camera calibration is presented. Using this method a robot arm is guided by using range information obtained from a ToF camera. Furthermore, the self-calibration method obtains the adequate integration time to be used by the range camera in order to precisely determine the depth information.

【 授权许可】

CC BY   
© 2010 by the authors; licensee MDPI, Basel, Switzerland.