Evaluation System of Rangefinder for Disaster Robot

This paper presents the method of evaluating rangefinder sensor system for applying to disaster robot. In order to measure the performance of the sensor system, the proposed system consists of a square space attached markers, an accurate 3D scanner and a simulation program. To test the accuracy of the rangefinder system in various environments, multi-absolute objects are used. From the markers attached on the test room, the position of the sensor is calculated, and then the accuracy is measured by comparing the 3D scanned data and pre-defined 3D CAD data. Since the proposed method identify the position of the sensor in real-time, the method is able to evaluate the performance even if the sensor is moving. We demonstrate the performance of the proposed system though the experiment.