Characterization of a 2-D Laser Scanner for Mobile Robot Obstacle Negotiation

This paper presents a characterization study of the Sick LMS 200 laser scanner. A number of parameters, such as operation time, data transfer rate, target surface properties, as well as the incidence angle, which may potentially affect the sensing performance, are investigated. A probabilistic range measurement model is built based on the experimental results. The paper also analyzes the mixed pixels problem of the scanner.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Cang Ye, Johann Borenstein
• Keywords: Data Transfer Rate, ICRA 2002, LMS 200 Laser, Robotics, Target Surface Properties