|In this report, we characterize experimentally a scanning laser rangefinder that employs active sensing to acquire three-dimensional images. We present experimental techniques applicable to a wide variety of laser scanners, and document the results of applying them to a device manufactured by Perceptron. Nominally, the sensor acquires data over a 60s x 60s field of view in 256 x 256 pixel images at 2Hz. It digitizes both range and reflectance pixels to 12 bits, providing a maximum range of 40m and a depth resolution of 1cm.
We present methods and results from experiments to measure geometric parameters including the field of view, angular scanning increments, and minimum sensing distance. We characterize qualitatively problems caused by implementation flaws, including internal reflections and range drift over time, and problems caused by inherent limitations of the rangefinding technology, including sensitivity to ambient light and surface material. We characterize statistically the precision and accuracy of the range measurements.
We conclude that the performance of the Perceptron scanner does not compare favorably with the nominal performance, that scanner modifications are required, and that further experimentation must be conducted.
Grant ID: NAGW-1175
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Number of pages: 44
|In So Kweon, Regis Hoffman, and Eric Krotkov, "Experimental Characterization of the Perceptron Laser Rangefinder," tech. report CMU-RI-TR-91-01, Robotics Institute, Carnegie Mellon University, January, 1991|
author = "In So Kweon and Regis Hoffman and Eric Krotkov",
title = "Experimental Characterization of the Perceptron Laser Rangefinder",
booktitle = "",
institution = "Robotics Institute",
month = "January",
year = "1991",
address= "Pittsburgh, PA",
|The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.|
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