This paper presents a characterization study of the Sick LMS 200 laser scanner. A number of parameters, such as operation time, data transfer rate, target surface properties, as well as the incidence angle, which may potentially affect the sensing performance, are investigated. A probabilistic range measurement model is built based on the experimental results. The paper also analyzes the mixed pixels problem of the scanner.
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Ye et al. (2003) studied this question.
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