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Sensors and Methods for Mobile Robot Positioning

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190 Part II Systems <strong>and</strong> <strong>Methods</strong> <strong>for</strong> <strong>Mobile</strong> <strong>Robot</strong> <strong>Positioning</strong><br />

Figure 8.3: Mobot IV (left) <strong>and</strong> Mobot V (right) were both developed <strong>and</strong> built<br />

at the University of Kaiserslautern. The different Mobot models have served as<br />

mobile robot testbeds since the mid-eighties. (Courtesy of the University of<br />

Kaiserslautern.)<br />

After computing the angle histogram, all angles of the hits can be normalized, resulting in the<br />

Figure 8.4: A typical scan of a room, produced by the University of<br />

Kaiserslautern's in-house developed lidar system. (Courtesy of the<br />

University of Kaiserslautern.)

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