Visual Control of Robots Using Range Images

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 v...

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Detalles Bibliográficos
Autores principales: Pomares, Jorge, Gil, Pablo, Torres, Fernando
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2010
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231188/
https://www.ncbi.nlm.nih.gov/pubmed/22163604
http://dx.doi.org/10.3390/s100807303
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author Pomares, Jorge
Gil, Pablo
Torres, Fernando
author_facet Pomares, Jorge
Gil, Pablo
Torres, Fernando
author_sort Pomares, Jorge
collection PubMed
description 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.
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spelling pubmed-32311882011-12-07 Visual Control of Robots Using Range Images Pomares, Jorge Gil, Pablo Torres, Fernando Sensors (Basel) Article 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. Molecular Diversity Preservation International (MDPI) 2010-08-04 /pmc/articles/PMC3231188/ /pubmed/22163604 http://dx.doi.org/10.3390/s100807303 Text en © 2010 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Pomares, Jorge
Gil, Pablo
Torres, Fernando
Visual Control of Robots Using Range Images
title Visual Control of Robots Using Range Images
title_full Visual Control of Robots Using Range Images
title_fullStr Visual Control of Robots Using Range Images
title_full_unstemmed Visual Control of Robots Using Range Images
title_short Visual Control of Robots Using Range Images
title_sort visual control of robots using range images
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231188/
https://www.ncbi.nlm.nih.gov/pubmed/22163604
http://dx.doi.org/10.3390/s100807303
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