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Comparative evaluation of range sensor accuracy for indoor mobile robotics and automated logistics applications
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0002-2392-7146
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0003-0217-9326
2013 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 61, no 10, p. 1094-1105Article in journal (Refereed) Published
Abstract [en]

3D range sensing is an important topic in robotics, as it is a component in vital autonomous subsystems such as for collision avoidance, mapping and perception. The development of affordable, high frame rate and precise 3D range sensors is thus of considerable interest. Recent advances in sensing technology have produced several novel sensors that attempt to meet these requirements. This work is concerned with the development of a holistic method for accuracy evaluation of the measurements produced by such devices. A method for comparison of range sensor output to a set of reference distance measurements, without using a precise ground truth environment model, is proposed. This article presents an extensive evaluation of three novel depth sensors — the Swiss Ranger SR-4000, Fotonic B70 and Microsoft Kinect. Tests are concentrated on the automated logistics scenario of container unloading. Six different setups of box-, cylinder-, and sack-shaped goods inside a mock-up container are used to collect range measurements. Comparisons are performed against hand-crafted ground truth data, as well as against a reference actuated Laser Range Finder (aLRF) system. Additional test cases in an uncontrolled indoor environment are performed in order to evaluate the sensors’ performance in a challenging, realistic application scenario.

Place, publisher, year, edition, pages
Elsevier, 2013. Vol. 61, no 10, p. 1094-1105
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-28856DOI: 10.1016/j.robot.2012.08.011ISI: 000325196600006Scopus ID: 2-s2.0-84883891279OAI: oai:DiVA.org:oru-28856DiVA, id: diva2:618586
Funder
EU, FP7, Seventh Framework Programme, FP7-270350Available from: 2013-04-29 Created: 2013-04-29 Last updated: 2018-01-11Bibliographically approved

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Stoyanov, TodorMojtahedzadeh, RasoulAndreasson, HenrikLilienthal, Achim J.
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