A Data-Driven Model for Range Sensors

被引：0

作者：

Spiess, Florian ^{[1
]}

Strobel, Norbert ^{[2
]}

Kaupp, Tobias ^{[3
]}

Kounev, Samuel ^{[4
]}

机构：

[1] Univ Appl Sci Wuerzburg Schweinfurt, Fac Elect Engn, D-9742 Schweinfurt, Germany

[2] Univ Appl Sci Wuerzburg Schweinfurt, Inst Med Engn, D-97422 Schweinfurt, Germany

[3] Univ Appl Sci Wuerzburg Schweinfurt, Inst Digital Engn IDEE, D-97422 Schweinfurt, Germany

[4] Julius Maximilians Univ Wuerzburg, Fac Math & Comp Sci, D-97422 Wurzburg, Germany

来源：

INTERNATIONAL JOURNAL OF SEMANTIC COMPUTING | 2024年 / 18卷 / 02期

关键词：

Simulation and animation; laser radar; range sensing; PRECISION;

D O I：

10.1142/S1793351X24300012

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, an analysis of the precision of range sensors is presented. Light Detection and Ranging (LIDAR) data from three different sensors (HLS-LFCD-LDS, SICK TIM561, and Kinect V2), stereo data from the Realsense D435, and structured light data from both Kinect V1 for Xbox and the Xtion PRO Live were analyzed regarding the influence of range, incident angle to the surface, and surface material. In addition, a comparison with standard deviation models based on vendor-provided specifications was performed. We found that the vendor specifications are in general not specific enough to facilitate accurate sensor simulations. Therefore, we developed a data-driven model for range precision. Our model can be used to create realistic sensor simulations and to develop robot navigation algorithms weighing sensor range readings based on the precision.

引用

页码：205 / 222

页数：18

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