%0 Journal Article
%T Visual Control of Robots Using Range Images
%A Jorge Pomares
%A Pablo Gil
%A Fernando Torres
%J Sensors
%D 2010
%I MDPI AG
%R 10.3390/s100807303
%X 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.
%K visual servoing
%K ToF cameras
%K self-calibration
%K roboticsvisual servoing
%K ToF cameras
%K self-calibration
%K robotics
%U http://www.mdpi.com/1424-8220/10/8/7303