A Low-Cost Laser Distance Sensor - Robotshop（一种低成本的激光距离传感器Robotshop）.pdf

2008 IEEE International Conference on Robotics and Automation Pasadena, CA, USA, May 19-23, 2008 A Low-Cost Laser Distance Sensor Kurt Konolige, Joseph Augenbraun, Nick Donaldson, Charles Fiebig, and Pankaj Shah 1 Abstract – Many indoor robotics systems use laser cleaners. rangefinders as their primary sensor for mapping, In this paper we describe a compact, low-cost LDS that localization, and obstacle avoidance. The cost and power of is as capable as standard LDS devices, yet is being such systems is a major roadblock to the deployment of low- manufactured for a fraction of their cost: the Revo LDS. cost, efficient consumer robot platforms for home use. In Figure I-1 shows the prototype Revo with its cover this paper, we describe a compact, planar laser distance removed. It has the following characteristics: sensor (LDS) that has capabilities comparable to current laser scanners: 3 cm accuracy out to 6 m, 10 Hz acquisition, 1. Eye-safe (Class I or II). and 1 degree resolution over a full 360 degree scan. The 2. Works under standard indoor lighting conditions, build cost of this device, using COTS electronics and custom and some outdoor conditions. mechanical tooling, is under $30. 3. Measures a full 360 degree planar scan.