Date of Original Version



Conference Proceeding

Abstract or Description

The authors analyze a class of imaging range finders-amplitude-modulated continuous-wave laser radars-in the context of computer vision and robotics. The analysis develops measurement models from the fundamental principles of laser radar operation, and identifies the nature and cause of key problems that plague measurements from this class of sensors. They classify the problems as fundamental (e.g. related to the signal-to-noise ratio), as architectural (e.g. limited by encoding distance by angles (0.2π)), and as artifacts of particular hardware implementations (e.g. insufficient temperature compensation). Experimental results from two different scanning laser range finders designed for autonomous navigation illustrate and support the analysis


"©1991 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE." "This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder."

Included in

Robotics Commons



Published In

Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, 359-364.