Calibración de cámaras de tiempo de vuelo: Ajuste adaptativo del tiempo de integración y análisis de la frecuencia de modulación

P. Gil

Spain

Universidad de Alicante

Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal

T. Kisler

Germany

Universidad Técnica de Múnich

G.J. García

Spain

Universidad de Alicante

Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal

C.A. Jara

Spain

Universidad de Alicante

Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal

J.A. Corrales

Spain

Universidad de Alicante

Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal

Enviado: 06-02-2018

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Aceptado: 06-02-2018

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DOI: https://doi.org/10.1016/j.riai.2013.08.002
Datos de financiación

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Palabras clave:

Tiempo de vuelo, calibración, imagen de rango, percepción robótica, cámaras 3D

Agencias de apoyo:

Co-financiado por el Gobierno regional de la Generalitat Valenciana

Universidad de Alicante y CICYT través de los proyectos GV2012/102

GRE10-16 y DPI2012- 32390.

Resumen:

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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