Probabilistic model of laser range finder for three dimensional grid cell in close range environment

The probabilistic model of a laser scanner presents an important aspect for simultaneous localization and map-building (SLAM). However, the characteristic of the beam of the laser range finder under extreme incident angles approaching 900 has not been thoroughly investigated. This research paper re...

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Main Authors:	Iman, Hafiz, Alang Rashid, Nahrul Khair
Format:	Article
Language:	English English
Published:	International Islamic University Malaysia 2016
Subjects:	TA Engineering (General). Civil engineering (General)
Online Access:	http://irep.iium.edu.my/52126/ http://irep.iium.edu.my/52126/ http://irep.iium.edu.my/52126/1/52126_Probabilistic%20model%20of%20laser%20range%20finder.pdf http://irep.iium.edu.my/52126/7/52126_PROBABILISTIC%20MODEL%20OF%20LASER%20RANGE%20FINDER%20FOR%20THREE%20DIMENSIONAL_WoS.pdf

id	iium-52126
recordtype	eprints
spelling	iium-521262017-05-09T02:36:50Z http://irep.iium.edu.my/52126/ Probabilistic model of laser range finder for three dimensional grid cell in close range environment Iman, Hafiz Alang Rashid, Nahrul Khair TA Engineering (General). Civil engineering (General) The probabilistic model of a laser scanner presents an important aspect for simultaneous localization and map-building (SLAM). However, the characteristic of the beam of the laser range finder under extreme incident angles approaching 900 has not been thoroughly investigated. This research paper reports the characteristic of the density of the range value coming from a laser range finder under close range circumstances where the laser is imposed with a high incident angle. The laser was placed in a controlled environment consisting of walls at a close range and 1000 iteration of scans was collected. The assumption of normal density of the metrical data collapses when the beam traverses across sharp edges in this environment. The data collected also shows multimodal density at instances where the range has discontinuity. The standard deviation of the laser range finder is reported to average at 10.54 mm, with 0.96 of accuracy. This significance suggests that under extreme incident angles, a laser range finder reading behaves differently compared to normal distribution. The use of this information is crucial for SLAM activity in enclosed environments such as inside piping grid or other cluttered environments. International Islamic University Malaysia 2016 Article PeerReviewed application/pdf en http://irep.iium.edu.my/52126/1/52126_Probabilistic%20model%20of%20laser%20range%20finder.pdf application/pdf en http://irep.iium.edu.my/52126/7/52126_PROBABILISTIC%20MODEL%20OF%20LASER%20RANGE%20FINDER%20FOR%20THREE%20DIMENSIONAL_WoS.pdf Iman, Hafiz and Alang Rashid, Nahrul Khair (2016) Probabilistic model of laser range finder for three dimensional grid cell in close range environment. IIUM Engineering Journal, 17 (1). pp. 63-82. ISSN 1511-788X E-ISSN 2289-7860 http://journals.iium.edu.my/ejournal/index.php/iiumej/article/view/570
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TA Engineering (General). Civil engineering (General)
spellingShingle	TA Engineering (General). Civil engineering (General) Iman, Hafiz Alang Rashid, Nahrul Khair Probabilistic model of laser range finder for three dimensional grid cell in close range environment
description	The probabilistic model of a laser scanner presents an important aspect for simultaneous localization and map-building (SLAM). However, the characteristic of the beam of the laser range finder under extreme incident angles approaching 900 has not been thoroughly investigated. This research paper reports the characteristic of the density of the range value coming from a laser range finder under close range circumstances where the laser is imposed with a high incident angle. The laser was placed in a controlled environment consisting of walls at a close range and 1000 iteration of scans was collected. The assumption of normal density of the metrical data collapses when the beam traverses across sharp edges in this environment. The data collected also shows multimodal density at instances where the range has discontinuity. The standard deviation of the laser range finder is reported to average at 10.54 mm, with 0.96 of accuracy. This significance suggests that under extreme incident angles, a laser range finder reading behaves differently compared to normal distribution. The use of this information is crucial for SLAM activity in enclosed environments such as inside piping grid or other cluttered environments.
format	Article
author	Iman, Hafiz Alang Rashid, Nahrul Khair
author_facet	Iman, Hafiz Alang Rashid, Nahrul Khair
author_sort	Iman, Hafiz
title	Probabilistic model of laser range finder for three dimensional grid cell in close range environment
title_short	Probabilistic model of laser range finder for three dimensional grid cell in close range environment
title_full	Probabilistic model of laser range finder for three dimensional grid cell in close range environment
title_fullStr	Probabilistic model of laser range finder for three dimensional grid cell in close range environment
title_full_unstemmed	Probabilistic model of laser range finder for three dimensional grid cell in close range environment
title_sort	probabilistic model of laser range finder for three dimensional grid cell in close range environment
publisher	International Islamic University Malaysia
publishDate	2016
url	http://irep.iium.edu.my/52126/ http://irep.iium.edu.my/52126/ http://irep.iium.edu.my/52126/1/52126_Probabilistic%20model%20of%20laser%20range%20finder.pdf http://irep.iium.edu.my/52126/7/52126_PROBABILISTIC%20MODEL%20OF%20LASER%20RANGE%20FINDER%20FOR%20THREE%20DIMENSIONAL_WoS.pdf
first_indexed	2023-09-18T21:13:54Z
last_indexed	2023-09-18T21:13:54Z
_version_	1777411434655776768

Probabilistic model of laser range finder for three dimensional grid cell in close range environment

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