Characterization of the Hokuyo UBG-04LX-F01 2D laser rangefinder

Author

Park, Chan-Soo ; Kim, Doik ; You, Bum-Jae ; Oh, Sang-Rok

Author_Institution

Korea Inst. of Sci. & Technol., Seoul, South Korea

fYear

2010

fDate

13-15 Sept. 2010

Firstpage

385

Lastpage

390

Abstract

This paper presents a characterization of the Hokuyo UBG-04LX-F01 laser rangefinder (LRF). The Hokuyo LRFs are suitable for a small mobile robot due to their small size and light weight. In particular, the scan frequency of Hokuyo UBG-04LX-F01 is higher than those of the previous LRFs in its price range. However, there is no research on characterizing this LRF for the convenience of practical use. Therefore, this paper characterizes the Hokuyo UBG-04LX-F01 and analyzes the effect of the target properties, such as incidence angle, color, brightness, and material, by measuring the distance to a target. The experimental results show that the measurement error is strongly influenced by the incidence angle and the brightness of the target surface. From the experimental results, a calibration model is also proposed to measure the accurate distance to a target.

Keywords

brightness; calibration; laser ranging; measurement errors; mobile robots; object detection; Hokuyo UBG-04LX-F01 2D laser rangefinder characterisation; brightness; calibration model; distance measurement; incidence angle; measurement error; mobile robot; Brightness; Color; Frequency measurement; Indexes; Measurement by laser beam; Measurement errors; Measurement uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

RO-MAN, 2010 IEEE

Conference_Location

Viareggio

ISSN

1944-9445

Print_ISBN

978-1-4244-7991-7

Type

conf

DOI

10.1109/ROMAN.2010.5598672

Filename

5598672