ToF cameras for active vision in robotics

Autor: Carme Torras, Sergi Foix, Guillem Alenyà
Přispěvatelé: Generalitat de Catalunya, Ministerio de Ciencia e Innovación (España), European Commission, Institut de Robòtica i Informàtica Industrial, Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
Rok vydání: 2014
Předmět:
0209 industrial biotechnology
Computer science
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
02 engineering and technology
01 natural sciences
computer vision
020901 industrial engineering & automation
Computer vision
Segmentation
Electrical and Electronic Engineering
Active vision
Instrumentation
Simulation
3D perception for manipulation
Complex-shape objects
Stereo cameras
business.industry
Time-of-Flight cameras
010401 analytical chemistry
Metals and Alloys
Mobile robot
Robotics
Condensed Matter Physics
Real image
0104 chemical sciences
Surfaces
Coatings and Films
Electronic
Optical and Magnetic Materials
Outdoor imaging
Robot
robots
Artificial intelligence
Depth calibration
business
Informàtica::Robòtica [Àrees temàtiques de la UPC]
Robotic arm
Pattern recognition::Computer vision [Classificació INSPEC]
Zdroj: Digital.CSIC. Repositorio Institucional del CSIC
instname
Recercat. Dipósit de la Recerca de Catalunya
Universitat Jaume I
UPCommons. Portal del coneixement obert de la UPC
Universitat Politècnica de Catalunya (UPC)
Popis: ToF cameras are now a mature technology that is widely being adopted to provide sensory input to robotic applications. Depending on the nature of the objects to be perceived and the viewing distance, we distinguish two groups of applications: those requiring to capture the whole scene and those centered on an object. It will be demonstrated that it is in this last group of applications, in which the robot has to locate and possibly manipulate an object, where the distinctive characteristics of ToF cameras can be better exploited. After presenting the physical sensor features and the calibration requirements of such cameras, we review some representative works highlighting for each one which of the distinctive ToF characteristics have been more essential. Even if at low resolution, the acquisition of 3D images at frame-rate is one of the most important features, as it enables quick background/ foreground segmentation. A common use is in combination with classical color cameras. We present three developed applications, using a mobile robot and a robotic arm, to exemplify with real images some of the stated advantages.
This work was supported by the EU project GARNICS FP7-247947, by the Spanish Ministry of Science and Innovation under project PAU+ DPI2011-27510, and by the Catalan Research Commission through SGR-00155
Databáze: OpenAIRE
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