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

P. Gil, T. Kisler, G.J. García, C.A. Jara, J.A. Corrales

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.

Palabras clave

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

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