Uncertainty of Line Segments Extracted from Static SICK PLS Laser Scans

نویسندگان

  • Albert Diosi
  • Lindsay Kleeman
چکیده

Knowing the uncertainty of measurements is important for sensor fusion using Kalman filters. Our sensor of interest is the Sick PLS101-112 laser range finder. We present an approach for straight line parameter estimation in polar coordinates that results in a simple covariance estimate and a worst case systematic line parameter error model based on a range error model backed up by experimental data. We show that our random and systematic line error models match experimental data most of the time. We also demonstrate that systematic line parameter errors can be larger than the random ones.

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تاریخ انتشار 2003