Range statistics and suppressing snowflakes detects for laser range finders in snowfall
2010 (English)In: Intelligent systems: from theory to practice / [ed] Vassil Sgurev, Mincho Hadjiski and Janusz Kacprzyk, Berlin Heidelberg: Springer , 2010, 261-277 p.Chapter in book (Refereed)
This paper presents statistics on registrations from laser range finders in snowfall. The sensors are standard laser range finders in robotics, the LMS200 and the URG-04LX. Three different working cases were identified for the pulsed laser range finder. 1) Normal operation with background objects present within the range of the sensor. 2) Close range objects where ranges to objects are shorter than the pulse length. 3) Free-space in the background. The findings are summarized as: • Two laser range finders have been used, one that sends out a pulsed wide beam and one with a modulated narrow laser beam. The narrow beam laser has better penetration between the snowflakes. • Median filtering shows a substantial reduction in snowflake detects. • The gamma distribution describes fairly well the range distribution of detected snowflakes. • In an intense snowfall where about 24% of the ranges detected snowflakes. • A time-polar median filter showed good results in suppressing snowflakes in range data.
Place, publisher, year, edition, pages
Berlin Heidelberg: Springer , 2010. 261-277 p.
, Studies in Computational Intelligence, ISSN 1860-949X ; 299
scattering, laser range finder, snowfall
Research subject Signal Processing
IdentifiersURN: urn:nbn:se:umu:diva-40602DOI: 10.1007/978-3-642-13428-9_12ISI: 000282781900012ISBN: 9783642134272OAI: oai:DiVA.org:umu-40602DiVA: diva2:401244