ToF cameras for eye-in-hand robotics

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Title:	ToF cameras for eye-in-hand robotics
Author:	Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme
Other authors:	Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
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.
Abstract:	Peer Reviewed
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -active vision -manipulators -service robots. -Classificació INSPEC::Automation::Robots::Service robots
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Document type:	Article - Submitted version Book Part
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