Characterization and testing of the BIRIS range sensor

A new active vision range sensor called BIRIS has potential applications in mobile robot systems. The authors describe the tests performed and the results for the prototype system developed for the NRC mobile robot. The tests evaluate the coverage of the sensor, accuracy, sensitivity, effects of target reflectance and robustness for specific applications. The testing also served to detect latent system errors and point out future design improvements and enhancements. With a complex sensor system such as BIRIS, it often is difficult and sometimes impossible to predict the exact characteristics and performance in relation to the application environment. Rather than formulate a complete sensor system model, the principles of operation were used to develop tests which assess the sensor´s performance for given mobile robot tasks