移动机器人激光测距仪性能综述

对当前移动机器人上常用的激光测距仪的性能研究进行了全面的总结。分析了检测SICK、Perceptron、Explorer等常用激光测距仪各方面特性的各种实验结果。根据影响激光测距仪测量性能的方式,把激光测距仪的时变特性、角度偏移、数据传输影响、混合象素现象、色度亮度干扰现象、辐射干扰现象等,分为内因和外因两大类进行了分类讨论。

This paper gives an overview of the characterizations of the laser rangefinders which are commonly used on the mobile robots. The authors list many experimental results of several common LRFs, such as SICK, Perceptron and Explorer, classify the characterizations into two categories, which are named inner causers and outer causers respectively, and illuminate the characterizations, including thermal drift, angular synchronization, transfer rate, sample rate, mixed pixels, crosstalk, radiant surfaces, etc.