Feasibility Investigation of Obstacle-Avoiding Sensors Unit without Image Processing

Table 2

Upward slope angle evaluation results in units of cm. 1000 sensing trials are averaged. The medial filter number (𝑁1) is 5 or 21.

Medial filter number (𝑁1)	Real slope angle (deg.)	𝑑1 (cm)	Mean value (deg.)	Max. value (deg.)	Min. value (deg.)	Variance (deg.)
5		0.00	17.0	19.4	15.9	0.465
	20.0	4.00	18.9	21.0	17.5	0.561
		7.00	20.5	22.2	17.4	1.01
		0.00	14.7	16.5	13.0	0.218
	15.0	4.00	15.3	16.2	14.2	0.121
		7.00	16.1	18.7	12.8	1.89
		0.00	9.68	12.1	7.74	0.243
	10.0	4.00	10.3	13.4	7.84	1.36
		7.00	10.8	13.2	9.26	0.162
21		0.00	16.9	18.1	16.5	0.0951
	20.0	4.00	19.7	20.5	18.9	0.110
		7.00	19.3	22.2	18.4	0.284
		0.00	14.6	15.3	13.0	0.104
	15.0	4.00	14.8	17.6	13.5	0.873
		7.00	15.5	16.3	14.8	0.129
		0.00	9.80	10.5	9.11	0.0630
	10.0	4.00	9.89	10.7	8.21	0.114
		7.00	9.40	11.5	8.59	0.255