低成本深度相机可稳定控制倒立摆，打破精度疑虑。
Can we stabilize an inverted pendulum with feedback from a time-of-flight camera?
- 用低分辨率飞行时间相机获取深度反馈。
- 成功实现倒立摆的可靠精确平衡控制。
- 适合做快速不稳系统实时控制的低成本方案。
飞行时间相机在机器人领域广受欢迎，因其能直接提供深度信息，且体积小、成本低、抗光照干扰，但其空间分辨率低和深度噪声大，普遍被认为难以支持精确反馈控制。本文表明，一款廉价且低分辨率的飞行时间相机仍能提供足够反馈，可靠而精确地平衡小车上的倒立摆——这是快速、不稳定动力学的经典基准测试。
原文摘要 · Abstract (English)
Time-of-flight cameras are popular in robotics for providing direct depth information while being compact, inexpensive, and robust to lighting conditions, but their low spatial resolution and depth noise are widely believed to preclude precise feedback control. In this paper, we show that an inexpensive, low-resolution time-of-flight camera provides sufficient feedback to reliably and precisely balance an inverted pendulum on a cart--a canonical benchmark for fast, unstable dynamics.
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