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
Authors
Projects associated
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.
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