Comparison and Evaluation of 2D and 3D Range Sensors
This work addresses the need for reliable sensor data in outdoor robotics, but it is incremental as it focuses on comparative evaluation without introducing new methods.
The paper measured the precision of several 2D and 2.5D range sensors at different ranges and incidence angles, presenting and analyzing the results to assess data quality for mobile robots in unstructured outdoor environments.
For mobile robots range sensors are important to perceive the environment. Sensors that can measure in a 3D volume are especially significant for outdoor robotics, because this environment is often highly unstructured. The quality of the data gathered by those sensors influences all algorithms relying on it. In this paper thus the precision of several 2D and 2.5D sensors is measured at different ranges and different incidence angles. The results of all tests are presented and analyzed.