Calibration of Short Range 2D Laser Range Finder for 3D SLAM Usage

Table 3

LRFs laser beam heights above base.

		Height above base [mm]
		LRF-1	LRF-2	LRF-3	LRF-4
0	−120	107	73	61	59
1	−90	110	77	54	63
2	−60	109	67	58	73
3	−30	101	52	53	78
4	0	96	41	46	81
5	30	81	24	43	82
6	60	69	14	40	77
7	90	60	11	43	73
8	120	58	19	48	70