3-D Measurements From Imaging Laser Radars: How Good Are They?

In this paper we analyse a class of imaging range finders —amplitude-modulated continuous-wave laser radars in the context of computer vision and robotics. The analysis develops measurement models from the fundamental principles of laser radar operation and identifies the nature and cause of key problems that affect measurements from this class of sensors. We classify the problems as fundamental (e.g. related to the signal-tonoise ratio), as architectural (e.g. limited by encoding distance by angles in [0, 2π]) and as artifacts of particular hardware implementations (e.g. insufficient temperature compensation). Experimental results from two different devices — scanning laser rangefinders designed for autonomous navigation — illustrate and support the analysis.