Comparison of Single-Layer and Multi-Layer Laser Scanners for Measuring Characteristic

Li, Xin; Xiong, Guang Ming; Hu, Yu; Li, Wen Bin; Jiang, Yan; Gong, Jian; Chen, Hui Yan

doi:10.4028/www.scientific.net/amm.128-129.548

Cited by 4 publications

(5 citation statements)

References 2 publications

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“…However, the relative error values for URG-04LX were found greater as summarized in Table 3 due to longer test duration as compared to their values stated in Table 2 [ 19 , 20 ]. Similar observations have been found for the tests related to UTM-30LX and the relative error values were greater for long drift tests as highlighted in Table 3 [ 28 , 29 , 30 ].…”

Section: Characteristics Of Laser Scanners In Indoor Environmentsupporting

confidence: 85%

“…have been found for the tests related to UTM-30LX and the relative error values were greater for long drift tests as highlighted in Table 3 [28,29,30].…”

Section: Plos Onementioning

confidence: 80%

“…Due to its compactness and lightweight, many mobile robots have been integrated with this scanner and detailed characterization results for mapping and object detection applications have presented in a research work [ 29 ]. A group of researchers have performed a comparison of UTM-30LX with a multi-layer IBEO LD-ML scanner and presented measurement characteristics during rain, dust and other environmental conditions [ 30 ]. Multiple probabilistic models have been tested for the same UTM-30LX scanner by other researchers and proposed a pre-processed range data fusion technique to improve the scanning error of the unit [ 31 ].…”

Section: Related Workmentioning

confidence: 99%

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Characterization and calibration of multiple 2D laser scanners

et al. 2022

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This paper presents the comparative evaluation of multiple compact and lightweight 2D laser scanners for their possible backpack based scanning and mapping applications. These scanners include Hokuyo URG-04LX, Slamtec RPLidar A1-M8 and Hokuyo UTM-30LX-EW scanners. Since the technical datasheets provide general information and limited working details, this research presents a thorough study on the performance of each scanner related explicitly to indoor mapping operations. A series of scanning experiments have been performed for the characterization of each scanner using statistical analysis. During the testing, all the scanning data has been recorded using Robot Operating System (ROS) and then computed in offline processing. In initial tests, each scanner’s drift effect on range measurements has been tested and presented in the relevant section of the paper. In continuation, the effect of various scanning distances on measurement accuracy has been evaluated and discussed. Later the impact of various materials typically found in indoor vicinities and their respective properties of color and smoothness have been tested and provided in the paper. Finally, a Kalman Filtering based mathematical formulation has been utilized to calibrate each scanner and to reduce the measuring uncertainties as observed in various tests for each scanner.

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Section: Characteristics Of Laser Scanners In Indoor Environmentsupporting

confidence: 85%

“…have been found for the tests related to UTM-30LX and the relative error values were greater for long drift tests as highlighted in Table 3 [28,29,30].…”

Section: Plos Onementioning

confidence: 80%

Section: Related Workmentioning

confidence: 99%

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Characterization and calibration of multiple 2D laser scanners

et al. 2022

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“…This new scanner was presented as a competition to the smaller scanners proposed by Hokuyo. Evaluations for the Hokuyo series was well investigated with the characterization of the PBS-03JN [5], the UBG-04LX-F01 [11], the URG-04LX [7], [2], [12], [13] and, more recently, the UTM-30LX [14], [15], [16]. Comparisons between Sick LMS-200 and Hokuyo URG scanners were also tackled [8], [7].…”

Section: Related Workmentioning

confidence: 99%

Noise characterization of depth sensors for surface inspections

Pomerleau¹,

Breitenmoser²,

Liu³

et al. 2012

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)

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International audienceIn the context of environment reconstruction for inspection, it is important to handle sensor noise properly to avoid distorted representations. A short survey of available sensors is realize to help their selection based on the payload capability of a robot. We then propose uncertainty models based on empirical results for three models of laser rangefinders: Hokuyo URG-04LX, UTM-30LX and the Sick LMS-151. The methodology, used to characterize those sensors, targets more specifically different metallic materials which often give distorted images due to reflexion. We also evaluate the impact of sensor noise on surface normal vector reconstruction and conclude with observations about the impact of sunlight and reflexions

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“…The same research group further extended the research to outdoor environmental conditions by considering the variation of lighting, magnetic fields for high-power line disturbances [9]. A group of researchers have performed an evaluation of UTM-30LX with multi-layer IBEO LD-ML scanner (Ibeo Automotive Systems GmbH, Hamburg, Germany) for outdoor environmental conditions [10].…”

Section: Related Workmentioning

confidence: 99%