ToFセンサによる反射光強度センサ補正に基づく反射率低依存な広範囲近接覚検出

抄録

Proximity sensors are useful for robotic manipulation. In this paper, we propose a wide-range proximity sensor module that consists of two types of proximity sensors: 1) reflection intensity sensor that can detect close proximity but depends on target object properties (e.g., reflectance); and 2) ToF sensor that is less dependent on these properties but cannot detect close proximity. We calibrate the former sensor with the latter when both sensors detect the same object. After this calibration, the former sensor becomes able to detect close proximity less dependent on the properties. We verified the distance measurement ability of the proposed module with experiments against different colored objects.