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Spurious measurements with a Hokuyo 2D LIDAR [closed]

asked 2020-07-05 05:21:22 -0500

li9i gravatar image

Hi all,

I am experiencing a serious issue with a Hokuyo UST-20LX LIDAR sensor that I can't seem to shake and I was wondering if anyone has had any experience with it or any intuition.

As you can see in the following image sequence the sensor reports some measurements extremely close to the actual device but in reality the sensor is far away from obstacles:

Video 1

What is more is that, when I place the robot in one rectangular surrounding (a standard desk open at one end only basically) and let the range measurements accumulate, the sensor exhibits the same false measurements near its maximum angle (forming a perfect line!) and, additionally, really distorted surroundings starting around -10 degrees and onward, and around the minimum and maximum angle. The desk's walls are straight as an arrow and they only form a Π shape. The measurements after the left-hand side wall do not correspond to obstacles.

Figure 1

I launch the sensor with the urg_node wrapper which gives me little to work with. I'm working on kinetic.

Does anyone have any past experience with this? Or is the sensor toast?

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Closed for the following reason the question is answered, right answer was accepted by li9i
close date 2020-07-13 03:59:39.875690

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answered 2020-07-13 03:59:17 -0500

li9i gravatar image

The issue was resolved on its own somehow.

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Hello, it has been a long time since, but did you get an understanding about how it got solved ? I'm getting the exact same case than you in a rectangular surrounding.

PatoInso gravatar image PatoInso  ( 2021-10-13 08:36:59 -0500 )edit

Hi PatoInso. I remember that I concluded that the artifacts that you see at the three edges of this Π were caused by the material of the desk. I think that the artifacts that you see at the ends of the Π were removed when I took a cloth and heavily polished the optical window of the sensor with it.

li9i gravatar image li9i  ( 2021-10-17 06:35:30 -0500 )edit

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Asked: 2020-07-05 05:21:22 -0500

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Last updated: Jul 13 '20