Characterization of Infrared Range-Finder PBS-03JN for 2-D Mapping

Alwan, Majd; Wagner, Michael; Wasson, Glenn; Sheth, Pradip N.

doi:10.1109/robot.2005.1570722

Cited by 40 publications

(26 citation statements)

References 9 publications

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“…Moreover, the robot movement may lead to any orientation of the sensor system with respect to the path sections. Therefore, the usual experiments known from the works of Ye and Borenstein [3] and Alwan [9] have been extended with some specialized tests to check the dependency of the measurement on the orientation of the sensor or the influence of the ambient light.…”

Section: Introductionmentioning

confidence: 99%

Characterization of the compact Hokuyo URG-04LX 2D laser range scanner

Kneip

Tâche

Caprari

et al. 2009

2009 IEEE International Conference on Robotics and Automation

111

100

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Abstract-This paper presents a detailed characterization of the Hokuyo URG-04LX 2D laser range finder. While the sensor specifications only provide a rough estimation of the sensor accuracy, the present work analyzes issues such as time drift effects and dependencies on distance, target properties (color, brightness and material) as well as incidence angle. Since the sensor is intended to be used for measurements of a tubelike environment on an inspection robot, the characterization is extended by investigating the influence of the sensor orientation and dependency on lighting conditions. The sensor characteristics are compared to those of the Sick LMS 200 which is commonly used in robotic applications when size and weight are not critical constraints. The results show that the sensor accuracy is strongly depending on the target properties (color, brightness, material) and that it is consequently difficult to establish a calibration model. The paper also identifies cases for which the sensor returns faulty measurements, mainly when the surface has low reflectivity (dark surfaces, foam) or for high incidence angles on shiny surfaces. On the other hand, the repeatability of the sensor seems to be competitive with the LMS 200.

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Section: Introductionmentioning

confidence: 99%

Characterization of the compact Hokuyo URG-04LX 2D laser range scanner

Kneip

Tâche

Caprari

et al. 2009

2009 IEEE International Conference on Robotics and Automation

111

100

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“…Alwan et al [16] characterized both the SICK LMS-200 and Hokuyo PBS-03JN and compared the result. Most of their work followed our procedure presented in [15].…”

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confidence: 99%

Characterization of the Hokuyo URG-04LX laser rangefinder for mobile robot obstacle negotiation

Okubo

Borenstein

2009

SPIE Proceedings

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This paper presents a characterization study of the Hokuyo URG-04LX scanning laser rangefinder (LRF). The Hokuyo LRF is similar in function to the Sick LRF, which has been the de-facto standard range sensor for mobile robot obstacle avoidance and mapping applications for the last decade. Problems with the Sick LRF are its relatively large size, weight, and power consumption, allowing its use only on relatively large mobile robots. The Hokuyo LRF is substantially smaller, lighter, and consumes less power, and is therefore more suitable for small mobile robots. The question is whether it performs just as well as the Sick LRF in typical mobile robot applications.In 2002, two of the authors of the present paper published a characterization study of the Sick LRF. For the present paper we used the exact same test apparatus and test procedures as we did in the 2002 paper, but this time to characterize the Hokuyo LRF. As a result, we are in the unique position of being able to provide not only a detailed characterization study of the Hokuyo LRF, but also to compare the Hokuyo LRF with the Sick LRF under identical test conditions. Among the tested characteristics are sensitivity to a variety of target surface properties and incidence angles, which may potentially affect the sensing performance. We also discuss the performance of the Hokuyo LRF with regard to the mixed pixels problem associated with LRFs. Lastly, the present paper provides a calibration model for improving the accuracy of the Hokuyo LRF.

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“…Previous Hokuyo models have been characterized [4,[22][23][24][25][26], but the formal characterization of the Hokuyo UST-20LX has not yet been presented.…”

Section: Related Workmentioning

confidence: 99%

Range Information Characterization of the Hokuyo UST-20LX LIDAR Sensor

2018

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This paper presents a study on the data measurements that the Hokuyo UST-20LX Laser Rangefinder produces, which compiles into an overall characterization of the LiDAR sensor relative to indoor environments. The range measurements, beam divergence, angular resolution, error effect due to some common painted and wooden surfaces, and the error due to target surface orientation are analyzed. It was shown that using a statistical average of sensor measurements provides a more accurate range measurement. It was also shown that the major source of errors for the Hokuyo UST-20LX sensor was caused by something that will be referred to as "mixed pixels". Additional error sources are target surface material, and the range relative to the sensor. The purpose of this paper was twofold: (1) to describe a series of tests that can be performed to characterize various aspects of a LIDAR system from a user perspective, and (2) present a detailed characterization of the commonly-used Hokuyo UST-20LX LIDAR sensor.

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Characterization of Infrared Range-Finder PBS-03JN for 2-D Mapping

Cited by 40 publications

References 9 publications

Characterization of the compact Hokuyo URG-04LX 2D laser range scanner

Characterization of the compact Hokuyo URG-04LX 2D laser range scanner

Characterization of the Hokuyo URG-04LX laser rangefinder for mobile robot obstacle negotiation

Range Information Characterization of the Hokuyo UST-20LX LIDAR Sensor

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