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Characterization and calibration of multiple 2D laser scanners

Riaz un Nabi Jafri, Syed; Shamim, Sheraz; Faraz, Sadia Muniza; Ahmed, Asif; Yasir, Syed Muhammad; Iqbal, Jamshed


Syed Riaz un Nabi Jafri

Sheraz Shamim

Sadia Muniza Faraz

Asif Ahmed

Syed Muhammad Yasir


This paper presents the comparative evaluation of multiple compact and lightweight 2D laser scanners for their possible backpack based scanning and mapping applications. These scanners include Hokuyo URG-04LX, Slamtec RPLidar A1-M8 and Hokuyo UTM- 30LX-EW scanners. Since the technical datasheets provide general information and limited working details, this research presents a thorough study on the performance of each scanner related explicitly to indoor mapping operations. A series of scanning experiments have been performed for the characterization of each scanner using statistical analysis. During the testing, all the scanning data has been recorded using Robot Operating System (ROS) and then computed in offline processing. In initial tests, each scanner's drift effect on range measurements has been tested and presented in the relevant section of the paper. In continuation, the effect of various scanning distances on measurement accuracy has been evaluated and discussed. Later the impact of various materials typically found in indoor vicinities and their respective properties of color and smoothness have been tested and provided in the paper. Finally, a Kalman Filtering based mathematical formulation has been utilized to calibrate each scanner and to reduce the measuring uncertainties as observed in various tests for each scanner.


Riaz un Nabi Jafri, S., Shamim, S., Faraz, S. M., Ahmed, A., Yasir, S. M., & Iqbal, J. (2022). Characterization and calibration of multiple 2D laser scanners. PLoS ONE, 17(7), Article e0272063.

Journal Article Type Article
Acceptance Date Jul 15, 2022
Online Publication Date Jul 28, 2022
Publication Date Jul 1, 2022
Deposit Date Jul 16, 2022
Publicly Available Date Oct 27, 2022
Journal PLoS ONE
Print ISSN 1932-6203
Electronic ISSN 1932-6203
Publisher Public Library of Science
Peer Reviewed Peer Reviewed
Volume 17
Issue 7
Article Number e0272063
Public URL


Published paper (3.7 Mb)

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Copyright Statement
© 2022 Jafri et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

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