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

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


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...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009)
DOI: 10.1109/ROBOT.2009.5152579


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