Characterization of the Hokuyo URG-04LX laser rangefinder for mobile robot obstacle negotiation

Yoichi Okubo; Cang Ye; Johann Borenstein

doi:10.1117/12.818332

30 April 2009 Characterization of the Hokuyo URG-04LX laser rangefinder for mobile robot obstacle negotiation

Yoichi Okubo, Cang Ye, Johann Borenstein

Proceedings Volume 7332, Unmanned Systems Technology XI; 733212 (2009) https://doi.org/10.1117/12.818332
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

This paper presents a characterization study of the Hokuyo URG-04LX scanning laser rangefinder (LRF). The Hokuyo LRF is similar in function to the Sick LRF, which has been the de-facto standard range sensor for mobile robot obstacle avoidance and mapping applications for the last decade. Problems with the Sick LRF are its relatively large size, weight, and power consumption, allowing its use only on relatively large mobile robots. The Hokuyo LRF is substantially smaller, lighter, and consumes less power, and is therefore more suitable for small mobile robots. The question is whether it performs just as well as the Sick LRF in typical mobile robot applications. In 2002, two of the authors of the present paper published a characterization study of the Sick LRF. For the present paper we used the exact same test apparatus and test procedures as we did in the 2002 paper, but this time to characterize the Hokuyo LRF. As a result, we are in the unique position of being able to provide not only a detailed characterization study of the Hokuyo LRF, but also to compare the Hokuyo LRF with the Sick LRF under identical test conditions. Among the tested characteristics are sensitivity to a variety of target surface properties and incidence angles, which may potentially affect the sensing performance. We also discuss the performance of the Hokuyo LRF with regard to the mixed pixels problem associated with LRFs. Lastly, the present paper provides a calibration model for improving the accuracy of the Hokuyo LRF.

Citation Download Citation

Yoichi Okubo, Cang Ye, and Johann Borenstein "Characterization of the Hokuyo URG-04LX laser rangefinder for mobile robot obstacle negotiation", Proc. SPIE 7332, Unmanned Systems Technology XI, 733212 (30 April 2009); https://doi.org/10.1117/12.818332

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available