1、980 单词， 4500 英文字符， 1590 汉字 出处： Konolige K, Augenbraun J, Donaldson N, et al. A low-cost laser distance sensorC/ IEEE International Conference on Robotics and Automation. IEEE, 2008:3002-3008. A Low-Cost Laser Distance Sensor Kurt Konolige, Joseph Augenbraun, Nick Donaldson, Charles Fiebig, and Panka
2、j Shah Abstract Many indoor robotics systems use laser rangefinders as their primary sensor for mapping, localization, and obstacle avoidance. The cost and power of such systems is a major roadblock to the deployment of low- cost, efficient consumer robot platforms for home use. In this paper, we de
3、scribe a compact, planar laser distance sensor (LDS) that has capabilities comparable to current laser scanners: 3 cm accuracy out to 6 m, 10 Hz acquisition, and 1 degree resolution over a full 360 degree scan. The build cost of this device, using COTS electronics and custom mechanical tooling, is u
4、nder $30. I. INTRODUCTION One of the most common tasks for mobile robots is to make a map and navigate in an environment. To do so, the robot needs to sense its environment in an efficient way, looking out to some distance to find obstacles and build a map that is useful for performing tasks such as
5、 vacuuming or delivery. While there are many sensors that could be used, laser distance sensors are currently the standard sensor in indoor and outdoor mobile robots. The main reason is the utility of the data: an LDS returns distance to objects in its field of view, unlike (for examp le) vision sen
6、sors, which need complicated and error-prone processing before distances are measured. And unlike other distance sensors such as sonars or IR sensors, an LDS is capable of fine angular and distance resolution, realtime behavior (hundreds or thousands of point measurements per second), and low false positive and negative rates. Efficient algorithms exist for mapping and localization using LDS scans 58. While LDS devices are ubiquitous in research robotics, their hi
