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This paper characterizes four commercial laser range finders (LRF) while operating under adverse conditions, namely: low visibility, and multiple types of target surfaces, including different optical properties, angles and radiant surfaces. The study considered two scanning LRF commonly used in mobile robotics: the Sick LMS200 and the Hokuyo URG-04LX, and two industrial punctual LRFs: the IFM Efector O1D100 and the Sick DT60. Based on the results obtained, a set of conclusions and recommendations are taken considering the utilization of LRF in mobile robots operating in risky and adverse environments, like firefighting applications.
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Pascoal et al. (2008) studied this question.
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