Characterization of Infrared Range-Finder PBS-03JN for 2-D Mapping

This paper presents a characterization study of the HOKUYO PBS-03JN Infrared range-finder and compares it to the characterization of the SICK LMS-200 laser range-finder for use in indoor 2-D mapping. Many parameters that could affect the performance of the sensor including warm-up time, divergence o...

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Bibliographic Details
Published inProceedings of the 2005 IEEE International Conference on Robotics and Automation pp. 3936 - 3941
Main Authors Alwan, M., Wagner, M.B., Wasson, G., Sheth, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Azimuth
Costs
Distance measurement
Distance Measurement Errors
Energy consumption
Incidence Angle
Infrared Range-Finders
Infrared sensors
Laser beams
Laser modes
Mobile robots
Power system modeling
Sensor phenomena and characterization
Target Color
Target Surface
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Summary:This paper presents a characterization study of the HOKUYO PBS-03JN Infrared range-finder and compares it to the characterization of the SICK LMS-200 laser range-finder for use in indoor 2-D mapping. Many parameters that could affect the performance of the sensor including warm-up time, divergence of the detection beam, usable detection range in the azimuth, target surface, color, and size properties, incidence angle at the target, and the mixed pixels problem have been studied. This characterization, quantification of errors, and 3-D confidence in the distance readings of the sensor is vital for practical applications. These characteristics are compared to the counterpart characteristics of the laser range-finder. The PBS-03JN is a cost effective alternative to laser range-finders in indoor environments. The sensor is attractive due to lower power consumption, and its lightweight.
ISBN:078038914X
9780780389144
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2005.1570722