TY - CHAP A1 - Spiess, Florian A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kounev, Samuel T1 - A data-driven Sensor Model for LIDAR Range Measurements used for Mobile Robot Navigation T2 - 2022 Sixth IEEE International Conference on Robotic Computing (IRC) N2 - In this paper, an analysis of the precision of LIDAR range measurements is presented. LIDAR data from two different sensors (HLS-LFCD-LDS and SICK TIM561) were analyzed regarding the influence of range, incident angle to the surface, and material. Based on the results, a data-driven model for LIDAR precision behavior was developed, and a comparison with standard deviation models based on the vendor-provided specifications was presented. Our model can be used to create realistic sensor simulations and to develop robot navigation algorithms weighing sensor range readings based on the precision. Y1 - 2022 U6 - https://doi.org/10.1109/IRC55401.2022.00020 SP - 76 EP - 80 ER -