Using LMS-100 laser rangefinder for indoor metric map building

János Rudan, Zoltán Tuza, Gábor Szederkényi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

The design and implementation of a scan matching based map building method is described in this paper. The brand new LMS-100 laser rangefinder was used and evaluated for point measurement and metric map building. The official driver of the rangefinder was migrated to Linux in order to be integrated into the applied software framework. The measurement results were compared to data obtained by the widely used LMS-200 device. Both sensors were mounted on a commercially available PowerBot differentially driven mobile robot. It is shown that for indoor robotic applications, the LMS-100 is similarly well-usable to the LMS-200 with significant advantages in compactness and power consumption. Furthermore, from a map-building point of view, the LMS-100 performs better in dense environments with obstacles having complex reflective surfaces.

Original languageEnglish
Title of host publicationISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
Pages525-530
Number of pages6
DOIs
Publication statusPublished - Dec 27 2010
Event2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy
Duration: Jul 4 2010Jul 7 2010

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
CountryItaly
CityBari
Period7/4/107/7/10

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Rudan, J., Tuza, Z., & Szederkényi, G. (2010). Using LMS-100 laser rangefinder for indoor metric map building. In ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics (pp. 525-530). [5637842] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2010.5637842