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Comparative evaluation of range sensor accuracy in indoor environments
Örebro University, School of Science and Technology. (AASS Mobile Robot and Olfaction Lab)ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology. (AASS Mobile Robot and Olfaction Lab)ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology. (AASS Mobile Robot and Olfaction Lab)ORCID iD: 0000-0003-0217-9326
2011 (English)In: Proceedings of the 5th European Conference on Mobile Robots, ECMR 2011 / [ed] Achim J. Lilienthal, Tom Duckett, 2011, 19-24 p.Conference paper, Published paper (Refereed)
Abstract [en]

3D range sensing is one of the important topics in robotics, as it is often a component in vital autonomous subsystems like collision avoidance, mapping and semantic perception. The development of affordable, high frame rate and precise 3D range sensors is thus of considerable interest. Recent advances in sensing technology have produced several novel sensors that attempt to meet these requirements. This work is concerned with the development of a holistic method for accuracy evaluation of the measurements produced by such devices. A method for comparison of range sensor output to a set of reference distance measurements is proposed. The approach is then used to compare the behavior of three integrated range sensing devices, to that of a standard actuated laser range sensor. Test cases in an uncontrolled indoor environment are performed in order to evaluate the sensors’ performance in a challenging, realistic application scenario.

Place, publisher, year, edition, pages
2011. 19-24 p.
National Category
Computer Vision and Robotics (Autonomous Systems) Robotics
Research subject
Information technology; Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-24096OAI: oai:DiVA.org:oru-24096DiVA: diva2:540987
Conference
5th European Conference on Mobile Robots,ECMR 2011, September 7-9, 2011, Örebro, Sweden
Funder
EU, FP7, Seventh Framework Programme, FP7-270350
Available from: 2012-07-31 Created: 2012-07-12 Last updated: 2016-08-10Bibliographically approved

Open Access in DiVA

Stoyanov_etal_2011-ECMR-3D_Range_Sensors_Accuracy_Evaluation.pdf(2249 kB)1926 downloads
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Stoyanov, TodorLouloudi, AthanasiaAndreasson, HenrikLilienthal, Achim J.
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Computer Vision and Robotics (Autonomous Systems)Robotics

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CiteExportLink to record
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Citation style
  • apa
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Output format
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