Analysis and Adaptation of Integration Time in PMD Camera for Visual Servoing

Pablo Gil, Jorge Pomares, Fernando Torres
2010 2010 20th International Conference on Pattern Recognition  
The depth perception in the objects of a scene can be useful for tracking or applying visual servoing in mobile systems. 3D time-of-flight (ToF) cameras provide range images which give measurements in real time to improve these types of tasks. However, the distance computed from these range images is very changing with the integration time parameter. This paper presents an analysis for the online adaptation of integration time of ToF cameras. This online adaptation is necessary in order to
more » ... re the images in the best condition irrespective of the changes of distance (between camera and objects) caused by its movement when the camera is mounted on a robotic arm. Time-of-flight cameras; integration time; image sensors; visual servoing; depth measurement; distance measurement I.
doi:10.1109/icpr.2010.85 dblp:conf/icpr/GilPT10 fatcat:aeaxwf2ifbaptf2ogegmou23va