Where am I? Sensors and Methods for Mobile Robot Positioning

190 Part II Systems and Methods for Mobile Robot Positioning
Figure 8.3: Mobot IV (left) and Mobot V (right) were both developed and built
at the University of Kaiserslautern. The different Mobot models have served as
mobile robot testbeds since the mid-eighties. (Courtesy of the University of
Kaiserslautern.)
After computing the angle histogram, all angles of the hits can be normalized, resulting in the
Figure 8.4: A typical scan of a room, produced by the University of
Kaiserslautern's in-house developed lidar system. (Courtesy of the
University of Kaiserslautern.)