Analysis and adaptation of integration time in PMD camera for visual servoing

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Title: Analysis and adaptation of integration time in PMD camera for visual servoing
Authors: Gil, Pablo | Pomares, Jorge | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Time-of-flight cameras | Integration time | Image sensors | Depth measurement | Distance measurement
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 23-Aug-2010
Publisher: IEEE Computer Society
Citation: GIL VÁZQUEZ, Pablo; POMARES BAEZA, Jorge; TORRES MEDINA, Fernando. "Analysis and adaptation of integration time in PMD camera for visual servoing". En: 20th International Conference on Pattern Recognition (ICPR), 2010. Piscataway, NJ : IEEE, 2010. ISBN 978-1-4244-7542-1, pp. 311-315
Abstract: The depth perception in the objects of a scene can be useful for tracking or applying visual servoing in mobile systems. 3D time-of-flight (ToF) cameras provide range images which give measurements in real time to improve these types of tasks. However, the distance computed from these range images is very changing with the integration time parameter. This paper presents an analysis for the online adaptation of integration time of ToF cameras. This online adaptation is necessary in order to capture the images in the best condition irrespective of the changes of distance (between camera and objects) caused by its movement when the camera is mounted on a robotic arm.
Sponsor: This work is supported by the Spanish Ministry of Education and Science (MEC) through the research project DPI2008-02647, “Manipulación Inteligente mediante percepción háptica y control visual empleando una estructura articular ubidada en el robot manipulador”.
ISBN: 978-1-4244-7542-1
ISSN: 1051-4651
DOI: 10.1109/ICPR.2010.85
Language: eng
Type: info:eu-repo/semantics/conferenceObject
Rights: © 2010 IEEE Computer Society
Peer Review: si
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