Publication

ToF cameras for eye-in-hand robotics

Book Chapter (2015)

Book Title

Optical Imaging Devices: New Technologies and Applications

Publisher

CRC Press - Francis Taylor Group

Pages

117-147

Serie

Devices, Circuits, and Systems

Doc link

http://www.crcnetbase.com/doi/abs/10.1201/b19108-7

File

Download the digital copy of the doc pdf document

Abstract

A Time-of-Flight (ToF) camera is a relatively new type of sensor that delivers 3-dimensional images at high frame rate, simultaneously providing intensity data and range information for every pixel. It has been used in a wide range of applications and here we will describe the lessons learned by using such cameras to perform robotic tasks, specifically in eye-in-hand configurations. In such configurations, the camera is attached to the end-effector of a robot manipulator, so that new images can be obtained by actively changing the point of view of the camera.

Categories

active vision, manipulators, service robots.

Scientific reference

G. Alenyà, S. Foix and C. Torras. ToF cameras for eye-in-hand robotics. In Optical Imaging Devices: New Technologies and Applications, 117-147. CRC Press - Francis Taylor Group, 2015.