Characterization ofInfrared Range-Finder PBS-03JN for2-DMapping*
Matthew Wagner · 2005
Thispaperpresents acharacterization study of theHOKUYO PBS-03JN Infrared range-finder andcompares ittothecharacterization oftheSICKLMS-200laser range- finder foruseinindoor 2-Dmapping. Manyparameters that couldaffect theperformance ofthesensor including warm-up time, divergence ofthedetection beam,usable detection range intheazimuth, target surface, color, andsizeproperties, incidence angleatthetarget, andthemixedpixels problem havebeenstudied. Thischaracterization, quantification of errors, and3-Dconfidence inthedistance readings ofthe sensor isvital forpractical applications. Thesecharacteristics arecompared tothecounterpart characteristics ofthelaser range-finder. ThePBS-03JNisacosteffective alternative to laserrange-finders inindoorenvironments. Thesensoris attractive due to lowerpower consumption, and its lightweight. IndexTerms - Infrared Range-Finders, Distance Measurement Errors, Target Color, Target Surface, Incidence