Realistic Simulation of Laser Range Finder Behavior in a Smoky Environment

  • Okke Formsma
  • Nick Dijkshoorn
  • Sander van Noort
  • Arnoud Visser
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6556)


The Urban Search and Rescue Simulation used for RoboCup lacks realistic response of laser range finders on smoke. In this paper, the behavior of a Hokuyo and Sick laser range finder in a smoky environment is studied. The behavior of the lasers is among others a function of the visibility level, and in this article this function is quantified into an explicit model. This model is implemented in a simulation environment which is the basis of the Virtual Robot competition of the RoboCup Rescue League. The behavior of both real and virtual laser range finders is compared in a number of validation tests. The validation tests show that the behavior of the laser range finders in the simulation is consistent with the real world.


Laser Range Laser Range Finder Smoke Plume Smoke Density Smoke Area 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Okke Formsma
    • 1
  • Nick Dijkshoorn
    • 1
  • Sander van Noort
    • 1
  • Arnoud Visser
    • 1
  1. 1.Intelligent Systems Laboratory AmsterdamUniversiteit van AmsterdamAmsterdamThe Netherlands

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