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National Repository of Grey Literature

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THE EVALUATION OF HOKUYO URG-04LX-UGO1 LASER RANGE FINDER DATA Krejsa, Jiří ; Věchet, Stanislav Laser range finders are essential sensors in mobile robot navigation tasks, such as robot localization, or simultaneous localization and mapping. As the probabilistic approach is commonly used to fuse the robot motion model with sensor data, the knowledge of the sensor parameters, such as linearity, variance, etc. is essential for fusing algorithms to perform correctly. This paper presents the results of extensive tests on performance of Hokuyo URG-04LX-UG01 range finder, that becomes nowadays popular among robot designers due to its reasonable cost, compact dimensions and low weight. The influence of obstacle color, error distribution and offset drift are examined. Detailed record

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