Visual control of robots using range images
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| Título: | Visual control of robots using range images |
|---|---|
| Autor/es: | Pomares, Jorge | Gil, Pablo | Torres, Fernando |
| Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
| Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
| Palabras clave: | Visual servoing | ToF cameras | Self-calibration | Robotics |
| Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
| Fecha de creación: | 20-may-2010 |
| Fecha de publicación: | 4-ago-2010 |
| Editor: | MDPI |
| Cita bibliográfica: | POMARES BAEZA, Jorge; GIL VÁZQUEZ, Pablo; TORRES MEDINA, Fernando. "Visual control of robots using range images". Sensors. Vol. 10, No. 8 (2010). ISSN 1424-8220, pp. 7303-7322 |
| Resumen: | 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. |
| Patrocinador/es: | Spanish Ministry of Science and Innovation through the project DPI2008-02647 and Research and Innovation Vicepresident Office of the University of Alicante through the emergent projects. |
| URI: | http://hdl.handle.net/10045/14700 |
| ISSN: | 1424-8220 |
| DOI: | 10.3390/s100807303 |
| Idioma: | eng |
| Tipo: | info:eu-repo/semantics/article |
| Derechos: | © 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/). |
| Revisión científica: | si |
| Versión del editor: | http://www.mdpi.com/1424-8220/10/8/7303/ |
| Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas INV - HURO - Artículos de Revistas |
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