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• Gil, P
• Torres, F
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• Gil, P
• Torres, F
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• Gil, P
• Torres, F

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Sensors 2010, 10(8), 7303-7322; doi:10.3390/s100807303

Article

Visual Control of Robots Using Range Images

Jorge Pomares* , Pablo Gil and Fernando Torres

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

* Author to whom correspondence should be addressed.

Received: 20 May 2010; in revised form: 23 July 2010 / Accepted: 28 July 2010 / Published: 4 August 2010

(This article belongs to the Section Physical Sensors)

Download PDF Full-Text [788 KB, uploaded 4 August 2010 11:30 CEST]

Abstract: 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.

Keywords: visual servoing; ToF cameras; self-calibration; roboticsvisual servoing; ToF cameras; self-calibration; robotics

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