Where am I? Sensors and Methods for Mobile Robot Positioning

122 Part I Sensors for Mobile Robot Positioning
Figure 4.31: Range and intensity scans obtained with Adams' 3-D Imaging Scanner.
a. In the range scan the brightness of each pixel is proportional to the range of the signal received
(darker pixels are closer).
b. In the intensity scan the brightness of each pixel is proportional to the amplitude of the signal
received. (Courtesy of [Adams, 1995].)
Figure 4.32: Scanning results obtained from the ESP ORS-1 lidar. The triangles represent the
sensor's position; the lines represent a simple plan view of the environment and each small cross
represents a single range data point.
a. Some non-linearity can be observed for scans of straight surfaces (e.g., between points A and B).
b. Scanning result after applying the signal compression circuit from in [Adams and Probert, 1995].
(Reproduced with permission from [Adams and Probert, 1995].)