Calibración de cámaras de tiempo de vueloAjuste adaptativo del tiempo de integración y análisis de la frecuencia de modulación

  1. P. Gil 1
  2. T. Kisler 2
  3. G.J. García 1
  4. C.A. Jara 1
  5. J.A. Corrales 1
  1. 1 Universitat d'Alacant
    info

    Universitat d'Alacant

    Alicante, España

    ROR https://ror.org/05t8bcz72

  2. 2 Technical University Munich
    info

    Technical University Munich

    Múnich, Alemania

    ROR https://ror.org/02kkvpp62

Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Ano de publicación: 2013

Volume: 10

Número: 4

Páxinas: 453-464

Tipo: Artigo

DOI: 10.1016/J.RIAI.2013.08.002 DIALNET GOOGLE SCHOLAR lock_openAcceso aberto editor

Outras publicacións en: Revista iberoamericana de automática e informática industrial ( RIAI )

Resumo

La percepción de profundidad se hace imprescindible en muchas tareas de manipulación, control visual y navegación de robots. Las cámaras de tiempo de vuelo (ToF: Time of Flight) generan imágenes de rango que proporcionan medidas de profundidad en tiempo real. No obstante, el parámetro distancia que calculan estas cámaras es fuertemente dependiente del tiempo de integración que se configura en el sensor y de la frecuencia de modulación empleada por el sistema de iluminación que integran. En este artículo, se presenta una metodología para el ajuste adaptativo del tiempo de integración y un análisis experimental del comportamiento de una cámara ToF cuando se modifica la frecuencia de modulación. Este método ha sido probado con éxito en algoritmos de control visual con arquitectura ‘eye-in-hand’ donde el sistema sensorial está compuesto por una cámara ToF. Además, la misma metodología puede ser aplicada en otros escenarios de trabajo.

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Fonte de datos: Dialnet