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

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

Description

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]

dc.contributor.authorKneip, Laurent
dc.contributor.authorTache, Fabien
dc.contributor.authorCaprari, Gilles
dc.contributor.authorSiegwart, Roland
dc.coverage.spatialKobe Japan
dc.date.accessioned2015-12-07T22:46:48Z
dc.date.createdMay 12-17 2009
dc.identifier.isbn9781424427895
dc.identifier.urihttp://hdl.handle.net/1885/25932
dc.description.abstractThis 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.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation (ICRA 2009)
dc.sourceProceedings of IEEE International Conference on Robotics and Automation (ICRA 2009)
dc.subjectKeywords: Calibration model; Dark surfaces; Faulty measurements; High incidence; Incidence angles; Inspection robots; Laser range finders; Laser range scanners; Lighting conditions; Robotic applications; Rough estimation; Sensor accuracy; Sensor characteristics; Se
dc.titleCharacterization of the compact Hokuyo URG-04LX 2D laser range scanner
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2009
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4628727xPUB41
local.type.statusPublished Version
local.contributor.affiliationKneip, Laurent, College of Engineering and Computer Science, ANU
local.contributor.affiliationTache, Fabien, Swiss Federal Institute of Technology Zurich (ETH Zurich)
local.contributor.affiliationCaprari, Gilles, Swiss Federal Institute of Technology Zurich (ETH Zurich)
local.contributor.affiliationSiegwart, Roland, Swiss Federal Institute of Technology Zurich (ETH Zurich)
local.description.embargo2037-12-31
local.bibliographicCitation.startpage1447
local.bibliographicCitation.lastpage1454
local.identifier.doi10.1109/ROBOT.2009.5152579
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2016-02-24T11:15:00Z
local.identifier.scopusID2-s2.0-70350356833
CollectionsANU Research Publications

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