title: Visual control of robots using range images.
abstract: 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.
authors.affiliation: Physics, Systems Engineering and Signal Theory Department, University of Alicante, PO Box 99, Alicante 03080, Spain. jpomares@ua.es
authors.forename: Jorge
authors.initials: J
authors.lastname: Pomares
authors.forename: Pablo
authors.initials: P
authors.lastname: Gil
authors.forename: Fernando
authors.initials: F
authors.lastname: Torres
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D002138:Calibration; D007091:Image Processing, Computer-Assisted; D021621:Imaging, Three-Dimensional / Q000379:methods*; D008962:Models, Theoretical; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation / Q000379:methods*