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A data-driven Sensor Model for LIDAR Range Measurements used for Mobile Robot Navigation

  • 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.

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Metadaten
Author:Florian Spiess, Norbert Strobel, Tobias Kaupp, Samuel Kounev
DOI:https://doi.org/10.1109/IRC55401.2022.00020
Parent Title (English):2022 Sixth IEEE International Conference on Robotic Computing (IRC)
Document Type:Conference Proceeding
Language:English
Year of publication:2022
Release Date:2023/08/11
Pages/Size:5
First Page:76
Last Page:80
Institutes and faculty:Fakultäten / Fakultät Elektrotechnik
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