Feasibility Investigation of Obstacle-Avoiding Sensors Unit without Image Processing

Table 3

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

Real slope angle (deg.)	𝑑1 (cm)	Mean value (deg.)	Max. value (deg.)	Min. value (deg.)	Variance (deg.)
−20.0	10.0	−19.9	−13.7	−23.2	2.06
	5.00	−18.9	−10.4	−25.4	7.69
	2.00	−18.4	−10.4	−27.2	10.3
−15.0	10.0	−14.6	−10.1	−18.0	1.41
	5.00	−14.2	−10.0	−21.7	3.76
	2.00	−14.5	−10.0	−19.8	4.35
−10.0	10.0	−10.6	−7.55	−13.7	1.45
	5.00	NA	NA	NA	NA
	2.00	NA	NA	NA	NA