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Visual Control of Robots Using Range Images
Physics, Systems Engineering and Signal Theory Department, University of Alicante, PO Box 99, Alicante 03080, Spain
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Received: 20 May 2010; in revised form: 23 July 2010 / Accepted: 28 July 2010 / Published: 4 August 2010
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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MDPI and ACS Style
Pomares, J.; Gil, P.; Torres, F. Visual Control of Robots Using Range Images. Sensors 2010, 10, 7303-7322.
Pomares J, Gil P, Torres F. Visual Control of Robots Using Range Images. Sensors. 2010; 10(8):7303-7322.
Pomares, Jorge; Gil, Pablo; Torres, Fernando. 2010. "Visual Control of Robots Using Range Images." Sensors 10, no. 8: 7303-7322.