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

Table 4

LRF set measuring plane positions.

LRF	Normal vector	Height above base [mm]
LRF-1	[−2.49, 8.30, 1000]	85.6	−0.53
LRF-2	[1.68, 10.46, 1000]	43.5	0.28
LRF-3	[1.46, 2.60, 1000]	50.9	0.14
LRF-4	[−3.86, −1.51, 1000]	69.4	−0.22