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A Time-of-Flight (ToF) camera is a relatively new type of sensor that delivers 3-dimensional images at high frame rate, simultaneously providing intensity data and range information for every pixel. It has been used in a wide range of applications and here we will describe the lessons learned by using such cameras to perform robotic tasks, specifically in eye-in-hand configurations. In such configurations, the camera is attached to the end-effector of a robot manipulator, so that new images can be obtained by actively changing the point of view of the camera.
CitationAlenyà, G., Foix, S., Torras, C. ToF cameras for eye-in-hand robotics. A: "Optical imaging devices: new technologies and applications". 2015, p. 117-147.
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