The Hokuyo UTM-30LX is a newer laser rangefinder from Hokuyo, with improved capabilities compared to its little brother, the Hokuyo URG-04LX (which was very popular among indoor robots).  Though it costs almost twice as much at $5600 (from distributors such as Acroname), it has greatly enhanced capabilities.  For example, the UTM has an increased scan range of 30 meters, with a 40 Hz scan rate over 270° range and 0.25° angular resolution.  These improved specs come at the cost of more power (8.4 Watts at 12VDC) and slightly larger form factor (6.0 x 6.0 x 8.5 cm).  It also performs better with absorptive surfaces (black wall trimmings are no longer problematic), and it is capable of returning intensity values in addition to range.  It seems that this laser rangefinder is a direct competitor to the SICK LMS 100, which has similar specifications and cost.

More detailed specifications of the Hokuyo UTM-30LX can be found here.

 

Hokuyo UTM-30LX Laser Range Finder (LIDAR)

 

Comments (5)

Jakob November 04, 2009 at 04:19 AM

hi,

are there any recommendations for dimensions of a loophole we have to make into our robot's body? Thanks for answers in advance.

J.

Liam Pedersen February 24, 2010 at 10:16 AM

Hello,

Does anybody know how to derive surface albedo from the UTM range and "intensity" values?

The "intensity" values do not obey a 1/range^2 profile.  In fact, intensity initially increases with distance, up to about 1m, then eventually decays in a quasi quadratic fashion.

Interesting, using targets of different albedo's does not produce a scaled intensity vs range profile.

Without such a model, I'm not sure what use the intensity values are ....

Thanks in advance,

Travis Deyle February 25, 2010 at 09:05 AM

@ Liam,

I cannot speak to the specific intensity versus range function, but it makes sense that there is no inverse-square law for a laser, as it is not an omnidirectional emitter.  The decay is a bit more complicated and is more of a diffraction / diffusion issue.

As for the utility of the intensity values... Willow Garage has used a tilting laser rangefinder to make a 3D point cloud of intensity values.  In essence, this is a spherical (versus pinhole) "camera image" that can be used to quickly (and accurately!) register the tilting laser rangefinder to other cameras / sensors in the system.  You can learn more about that here.

Liam Pedersen March 03, 2010 at 10:44 AM

Thank you Travis.  Would you mind reposting that link as it did not come through in your post.

Agree on the intensity vs distance being more complicated than 1/r^2 in the near field, but remain puzzled about why a change in target albedo does not simply scale the intensity vs range response curve. 

Travis Deyle March 03, 2010 at 02:01 PM

@ Liam,

Link above is fixed (should be to here).  It seems I've uncovered a bug in our system, so thanks for pointing that out.