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.

翻译：飞秒相机因其能够直接提供深度信息、结构紧凑、成本低廉且对光照条件鲁棒而在机器人领域备受青睐，但其低空间分辨率与深度噪声普遍被认为难以支撑精准的反馈控制。本文证明，一款低成本、低分辨率的飞秒相机足以提供可靠且精确的反馈，实现对推车式倒立摆（快速不稳定动力学的经典基准测试）的稳定平衡控制。