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

Kneip, Laurent; Tâche, Fabien; Caprari, Gilles; Siegwart, Roland

doi:10.1109/robot.2009.5152579

Cited by 111 publications

(109 citation statements)

References 10 publications

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“…3, No. 6, November 2014 performance and characteristic of Hokuyo URG-04LX-UG01 is almost the same with the performance of URG-04LX that has been reviewed its characteristics by [6], [7]. They said, URG-04LX output performance need 90 minutes to stable.…”

Section: Hokuyo Urg Seriesmentioning

confidence: 81%

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Hokuyo URG Series Block in Matlab Simulink

Saesar¹,

Hasnan²,

Yaqub³

2014

IJCCE

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Abstract-Since simulink has been widely used among engineer and researcher for many aspect of digital signal processing and control theory, then we develop a block that interfaced specific hardware that also has been widely used, a Laser Range Finder (LRF) sensor. Here we interface the LRF sensor from Hokuyo, the URG family series. Hokuyo is famous with the affordable LRF sensor that they built, such as URG-04LX-UG01. This paper presents the structure and the design of block proposed. Moreover, with mathematical calculation we provide the 2D plot graph from the scanned result. 

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Section: Hokuyo Urg Seriesmentioning

confidence: 81%

“…The accuracy, the interface, the weight and also the price was the prime advantages if we chose their product. Here, we used the cheapest hokuyo LRF sensor on the market, URG-04LX-UG01 [5] (See Table I). Computer and Communication Engineering, Vol.…”

Section: Hokuyo Urg Seriesmentioning

confidence: 99%

Hokuyo URG Series Block in Matlab Simulink

Saesar¹,

Hasnan²,

Yaqub³

2014

IJCCE

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“…Specific types of Lidars have specific statistical models, and leveraging on these differences different authors proposed different calibration algorithms. E.g., the characterization of the intrinsic parameters of Time of Flight (ToF) Lidars has been analyzed in [4], [5], [6], [7], [8], [9], [10], [11], [12]. More specifically, a characterization study of the Sick LMS200 Lidar with measurement drift over time, and targeted the influence of the surface properties as well as the incidence angle on the measurement process presented in [4], the paper also proposed a probabilistic range measurement model constructed starting from the experimental results.…”

Section: Literature Reviewmentioning

confidence: 99%

Calibrating Distance Sensors for Terrestrial Applications Without Groundtruth Information

2017

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Abstract-This paper describes a new calibration procedure for distance sensors that does not require independent sources of groundtruth information, i.e., that is not based on comparing the measurements from the uncalibrated sensor against measurements from a precise device assumed as the groundtruth. Alternatively, the procedure assumes that the uncalibrated distance sensor moves in space on a straight line in an environment with fixed targets, so that the intrinsic parameters of the statistical model of the sensor readings are calibrated without requiring tests in controlled environments, but rather in environments where the sensor follows linear movement and objects do not move.The proposed calibration procedure exploits an approximated EM scheme on top of two ingredients: an heteroscedastic statistical model describing the measurement process, and a simplified dynamical model describing the linear sensor movement. The procedure is designed to be capable of not just estimating the parameters of one generic distance sensor, but rather integrating the most common sensors in robotic applications, such as Lidars, odometers and sonar rangers and learn the intrinsic parameters of all these sensors simultaneously.Tests in a controlled environment led to a reduction of the MSE of the measurements returned by a commercial triangulation Lidar by a factor between 3 and 6, comparable to the efficiency of other state-of-the art groundtruth-based calibration procedures. Adding odometric and ultrasonic information further improved the performance index of the overall distance estimation strategy by a factor of up to 1.2. Tests also show high robustness against violating the linear movements assumption.

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“…As can be seen, the data is highly noisy with errors up to 5 cm which makes plane fitting a challenging task. The noise originates from the inaccuracy of the laser scanner itself [17] as well as from the estimation of the sensor's pose from forward kinematics based on the joint angles while tilting the head.…”

Section: Related Workmentioning

confidence: 99%

From 3D point clouds to climbing stairs: A comparison of plane segmentation approaches for humanoids

Osswald

Gutmann²,

Hornung

et al. 2011

2011 11th IEEE-RAS International Conference on Humanoid Robots

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Abstract-In this paper, we consider the problem of building 3D models of complex staircases based on laser range data acquired with a humanoid. These models have to be sufficiently accurate to enable the robot to reliably climb up the staircase. We evaluate two state-of-the-art approaches to plane segmentation for humanoid navigation given 3D range data about the environment. The first approach initially extracts line segments from neighboring 2D scan lines, which are successively combined if they lie on the same plane. The second approach estimates the main directions in the environment by randomly sampling points and applying a clustering technique afterwards to find planes orthogonal to the main directions. We propose extensions for this basic approach to increase the robustness in complex environments which may contain a large number of different planes and clutter. In practical experiments, we thoroughly evaluate all methods using data acquired with a laser-equipped Nao robot in a multi-level environment. As the experimental results show, the reconstructed 3D models can be used to autonomously climb up complex staircases.

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

Cited by 111 publications

References 10 publications

Hokuyo URG Series Block in Matlab Simulink

Hokuyo URG Series Block in Matlab Simulink

Calibrating Distance Sensors for Terrestrial Applications Without Groundtruth Information

From 3D point clouds to climbing stairs: A comparison of plane segmentation approaches for humanoids

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