Characterization of a 2D laser scanner for mobile robot obstacle negotiation

@article{Ye2002CharacterizationOA,
  title={Characterization of a 2D laser scanner for mobile robot obstacle negotiation},
  author={Cang Ye and Johann Borenstein},
  journal={Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)},
  year={2002},
  volume={3},
  pages={2512-2518 vol.3}
}
This paper presents a characterization study of the Sick LMS 200 laser scanner. A number of parameters, such as operation time, data transfer rate, target surface properties, as well as the incidence angle, which may potentially affect the sensing performance, are investigated. A probabilistic range measurement model is built based on the experimental results. The paper also analyzes the mixed pixels problem of the scanner. 

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