ToF cameras are now a mature technology that is widely being adopted to provide sensory input to robotic applications. Depending on the nature of the objects to be perceived and the viewing distance, we distinguish two groups of applications: those requiring to capture the whole scene and those centered on an object. It will be demonstrated that it is in this last group of applications, in which the robot has to locate and possibly manipulate an object, where the distinctive characteristics of ToF cameras can be better exploited.\ud\ud\ud\udAfter presenting the physical sensor features and the calibration requirements of such cameras, we review some representative works highlighting for each one which of the distinctive ToF characteristics have been more essential. Even if at low resolution, the acquisition of 3D images at frame-rate is one of the most important features, as it enables quick background/foreground segmentation. A common use is in combination with classical color cameras. We present three developed applications, using a mobile robot and a robotic arm, to exemplify with real images some of the stated advantages.
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机译：现在，ToF相机是一项成熟的技术，已被广泛采用以向机器人应用程序提供感官输入。根据要感知的对象的性质和观看距离，我们将应用程序分为两类：需要捕获整个场景的应用程序和以对象为中心的应用程序。将会证明，在这最后一组应用中，机器人必须定位并可能操纵一个物体，才能更好地利用ToF摄像机的独特特征。\ ud \ ud \ ud \ ud传感器的功能以及此类相机的校准要求，我们将回顾一些具有代表性的作品，并针对每个作品突出其独特的ToF特性。即使在低分辨率下，以帧速率采集3D图像也是最重要的功能之一，因为它可以实现快速的背景/前景分割。通常将其与经典彩色相机结合使用。我们介绍了三个开发的应用程序，使用移动机器人和机械臂，以真实图像为例说明了其中的一些优点。
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