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

Visual Control of Robots Using Range Images

* ,
 and
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)
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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 visual servoing; ToF cameras; self-calibration; roboticsvisual servoing; ToF cameras; self-calibration; robotics
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Pomares, J.; Gil, P.; Torres, F. Visual Control of Robots Using Range Images. Sensors 2010, 10, 7303-7322.

AMA Style

Pomares J, Gil P, Torres F. Visual Control of Robots Using Range Images. Sensors. 2010; 10(8):7303-7322.

Chicago/Turabian Style

Pomares, Jorge; Gil, Pablo; Torres, Fernando. 2010. "Visual Control of Robots Using Range Images." Sensors 10, no. 8: 7303-7322.



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