3-D measurements from imaging laser radars: how good are they?

The authors analyze a class of imaging range finders-amplitude-modulated continuous-wave laser radars-in the context of computer vision and robotics. The analysis develops measurement models from the fundamental principles of laser radar operation, and identifies the nature and cause of key problems that plague measurements from this class of sensors. They classify the problems as fundamental (e.g. related to the signal-to-noise ratio), as architectural (e.g. limited by encoding distance by angles (0.2π)), and as artifacts of particular hardware implementations (e.g. insufficient temperature compensation). Experimental results from two different scanning laser range finders designed for autonomous navigation illustrate and support the analysis