Range Information Characterization of the Hokuyo UST-20LX LIDAR Sensor
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...
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Online Access: | http://www.mdpi.com/2304-6732/5/2/12 |
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doaj-49ec784d549e4d15b9e840af218fd1a62020-11-24T21:35:14ZengMDPI AGPhotonics2304-67322018-05-01521210.3390/photonics5020012photonics5020012Range Information Characterization of the Hokuyo UST-20LX LIDAR SensorMatthew A. Cooper0John F. Raquet1Rick Patton2Air Force Institute of Technology, Dayton, OH 45433, USAAir Force Institute of Technology, Dayton, OH 45433, USAMacB Macaulay-Brown, Inc., Dayton, OH 45433, USAThis 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.http://www.mdpi.com/2304-6732/5/2/12LIDARLADARsensor characterizationUAVindoor navigationrobot localizationSLAM |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Matthew A. Cooper John F. Raquet Rick Patton |
spellingShingle |
Matthew A. Cooper John F. Raquet Rick Patton Range Information Characterization of the Hokuyo UST-20LX LIDAR Sensor Photonics LIDAR LADAR sensor characterization UAV indoor navigation robot localization SLAM |
author_facet |
Matthew A. Cooper John F. Raquet Rick Patton |
author_sort |
Matthew A. Cooper |
title |
Range Information Characterization of the Hokuyo UST-20LX LIDAR Sensor |
title_short |
Range Information Characterization of the Hokuyo UST-20LX LIDAR Sensor |
title_full |
Range Information Characterization of the Hokuyo UST-20LX LIDAR Sensor |
title_fullStr |
Range Information Characterization of the Hokuyo UST-20LX LIDAR Sensor |
title_full_unstemmed |
Range Information Characterization of the Hokuyo UST-20LX LIDAR Sensor |
title_sort |
range information characterization of the hokuyo ust-20lx lidar sensor |
publisher |
MDPI AG |
series |
Photonics |
issn |
2304-6732 |
publishDate |
2018-05-01 |
description |
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. |
topic |
LIDAR LADAR sensor characterization UAV indoor navigation robot localization SLAM |
url |
http://www.mdpi.com/2304-6732/5/2/12 |
work_keys_str_mv |
AT matthewacooper rangeinformationcharacterizationofthehokuyoust20lxlidarsensor AT johnfraquet rangeinformationcharacterizationofthehokuyoust20lxlidarsensor AT rickpatton rangeinformationcharacterizationofthehokuyoust20lxlidarsensor |
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1725945910567895040 |