Robot vision using 3D TOF systems

Consistent 3D imaging of robot surroundings is extremely useful for aiding navigation, and a lot of research effort has been applied to propose good solutions to this challenge. In principle there are three main methods used to acquire 3D information using vision-based systems: structure from motion (SfM) and stereo vision (SV) systems, laser range scanners (LRS) and time-of-flight (TOF) cameras. Compared to SV systems TOF cameras can deal with prominent parts of rooms such as walls, floors, and ceilings even if they are not structured. Compared to an LRS all range data are captured at one time between different object sample points. In conclusion it can be said that TOF cameras are the most suitable 3D imaging systems for robot vision, as presented in this book chapter,  as they are able to deliver 3D dynamic information of objects.