Probabilistic model of laser range finder for three dimensional grid cell in close range environment

Iman, Hafiz and Alang Rashid, Nahrul Khair (2016) Probabilistic model of laser range finder for three dimensional grid cell in close range environment. IIUM Engineering Journal, 17 (1). pp. 63-82. ISSN 1511-788X E-ISSN 2289-7860

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Abstract

The probabilistic model of a laser scanner presents an important aspect for simultaneous localization and map-building (SLAM). However, the characteristic of the beam of the laser range finder under extreme incident angles approaching 900 has not been thoroughly investigated. This research paper reports the characteristic of the density of the range value coming from a laser range finder under close range circumstances where the laser is imposed with a high incident angle. The laser was placed in a controlled environment consisting of walls at a close range and 1000 iteration of scans was collected. The assumption of normal density of the metrical data collapses when the beam traverses across sharp edges in this environment. The data collected also shows multimodal density at instances where the range has discontinuity. The standard deviation of the laser range finder is reported to average at 10.54 mm, with 0.96 of accuracy. This significance suggests that under extreme incident angles, a laser range finder reading behaves differently compared to normal distribution. The use of this information is crucial for SLAM activity in enclosed environments such as inside piping grid or other cluttered environments.

Item Type:	Article (Journal)
Additional Information:	5928/52126
Uncontrolled Keywords:	Hokuyo UTM-30LX; kernel density estimation; probabilistic model
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Nahrul Khair Alang Md Rashid
Date Deposited:	06 Oct 2016 15:15
Last Modified:	09 May 2017 10:36
URI:	http://irep.iium.edu.my/id/eprint/52126

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