Characterization of the Hokuyo UBG-04LX-F01 2D laser rangefinder

Park, Chansoo; Kim, Doik; You, Bum-Jae; Oh, Sang–Rok

doi:10.1109/roman.2010.5598672

Cited by 27 publications

(32 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…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

View full text Add to dashboard Cite

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.

show abstract

“…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

View full text Add to dashboard Cite

show abstract

“…Kneip et al. [19] shows that the shiny target's surface may cause large distance error. However, Fig.…”

Section: Target Surface Propertiesmentioning

confidence: 99%

Characterization of the GLDT laser range finder

Zhang

Xiao

Zhang

2015

2015 IEEE International Conference on Information and Automation

View full text Add to dashboard Cite

This paper presents a characterization study of the GLDT laser range finder (LRF). The LRF has long measuring range and high angular resolution. It is necessary to characterize the scanner before it is installed on our rescue robot which will work in unstructured indoor and outdoor environments. Besides examining the drift and how the distance affect the measurement accuracy, this paper also characterizes the LRF and analyzes the effect of several target properties, such as color, incidence angle, brightness and material, by measuring the distance to a target. Furthermore, a man-made smoke environment is employed to investigate whether its accuracy is affected in fire disasters. From the experimental results, a calibration model is also proposed to measure the accurate distance to a target.Index Terms -laser range finder, measurement error, calibration model.

show abstract

“…The scan frequency and the angular resolution of the UBG is 36Hz and 0.352 • , respectively. Detail characteristics of the UBG are provided in [8].…”

Section: A Laser Scanner Installationmentioning

confidence: 99%

Ground height map generation for a humanoid robot in an unstructured environment

Park

Kim

You

et al. 2011

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society

Self Cite

View full text Add to dashboard Cite

This paper proposes a method to measure an accurate ground height map for a humanoid robot by using a laser scanner in an unstructured environment. To measure accurate dimensions of a surface or an obstacle, a 2D laser scanner is installed on the head of a humanoid robot, called MAHRU-1. By moving the head up and down, 3D depth map around a robot is obtained from the 2D range data. After obtaining the 3D depth map around a robot, a plane segmentation method is applied to the 3D data. At first, all the horizontal and vertical planes in the 3D point map are extracted, and the outliers are removed from the plane. After segmenting the plane from the 3D data, the dimensions and the area of the planes are calculated. The accuracy of the extracted surface is evaluated with experimental results, which show the effectiveness of proposed method to extract the surfaces in the unstructured environment.

show abstract

Characterization of the Hokuyo UBG-04LX-F01 2D laser rangefinder

Cited by 27 publications

References 6 publications

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

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

Characterization of the GLDT laser range finder

Ground height map generation for a humanoid robot in an unstructured environment

Contact Info

Product

Resources

About