{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T09:04:56Z","timestamp":1760346296183,"version":"build-2065373602"},"reference-count":32,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2012,11,28]],"date-time":"2012-11-28T00:00:00Z","timestamp":1354060800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents the use of an external fixed two-dimensional laser scanner to detect cylindrical targets attached to moving devices, such as a mobile robot. This proposal is based on the detection of circular markers in the raw data provided by the laser scanner by applying an algorithm for outlier avoidance and a least-squares circular fitting. Some experiments have been developed to empirically validate the proposal with different cylindrical targets in order to estimate the location and tracking errors achieved, which are generally less than 20 mm in the area covered by the laser sensor. As a result of the validation experiments, several error maps have been obtained in order to give an estimate of the uncertainty of any location computed. This proposal has been validated with a medium-sized mobile robot with an attached cylindrical target (diameter 200 mm). The trajectory of the mobile robot was estimated with an average location error of less than 15 mm, and the real location error in each individual circular fitting was similar to the error estimated with the obtained error maps. The radial area covered in this validation experiment was up to 10 m, a value that depends on the radius of the cylindrical target and the radial density of the distance range points provided by the laser scanner but this area can be increased by combining the information of additional external laser scanners.<\/jats:p>","DOI":"10.3390\/s121216482","type":"journal-article","created":{"date-parts":[[2012,11,28]],"date-time":"2012-11-28T11:03:39Z","timestamp":1354100619000},"page":"16482-16497","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking"],"prefix":"10.3390","volume":"12","author":[{"given":"Merc\u00e8","family":"Teixid\u00f3","sequence":"first","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, Jaume II, 69, 25001 Lleida, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tom\u00e0s","family":"Pallej\u00e0","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, Jaume II, 69, 25001 Lleida, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Davinia","family":"Font","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, Jaume II, 69, 25001 Lleida, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marcel","family":"Tresanchez","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, Jaume II, 69, 25001 Lleida, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Javier","family":"Moreno","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, Jaume II, 69, 25001 Lleida, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8210-3262","authenticated-orcid":false,"given":"Jordi","family":"Palac\u00edn","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, Jaume II, 69, 25001 Lleida, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2012,11,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"9133","DOI":"10.3390\/s91109133","article-title":"Measuring Gait Using a Ground Laser Range Sensor","volume":"9","author":"Palleja","year":"2009","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"5071","DOI":"10.3390\/s110505071","article-title":"Measuring Oscillating Walking Paths with a LIDAR","volume":"11","author":"Teixido","year":"2011","journal-title":"Sensors"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1002\/art.1790060104","article-title":"Effect of a Walking Program on Gait Characteristics In Patients With Osteoarthritis","volume":"6","author":"Peterson","year":"1993","journal-title":"Arthritis Care Res"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"640","DOI":"10.1007\/s00421-004-1246-7","article-title":"Gait characteristics in people with type 2 diabetes mellitus","volume":"93","author":"Petrofsky","year":"2005","journal-title":"Eur. J. Appl. Physiol"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"578","DOI":"10.1093\/ptj\/80.6.578","article-title":"Movement disorders in people with Parkinson disease: A model for physical therapy","volume":"80","author":"Morris","year":"2000","journal-title":"Phys. Ther"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"695","DOI":"10.1191\/0269215505cr906oa","article-title":"Effects of external rhythmical cueing on gait in patients with Parkinson\u2019s disease: A systematic review","volume":"19","author":"Lim","year":"2005","journal-title":"Clin. Rehabil"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Miettinen, M., Ohman, M., Visala, A., and Forsman, P. (2007, January 10\u201314). Simultaneous Localization and Mapping for Forest Harvesters. Roma, Italy.","DOI":"10.1109\/ROBOT.2007.363838"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"9273","DOI":"10.3390\/s120709273","article-title":"Laser Scanning Measurements on Trees for Logging Harvesting Operations","volume":"12","author":"Zheng","year":"2012","journal-title":"Sensors"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"12798","DOI":"10.3390\/s120912798","article-title":"Tree Height Growth Measurement with Single-Scan Airborne, Static Terrestrial and Mobile Laser Scanning","volume":"12","author":"Lin","year":"2012","journal-title":"Sensors"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Jutila, J., Kannas, K., and Visala, A. (2007, January 20\u201323). Tree Measurement in Forest by 2D Laser Scanning. Jacksonville, FL, USA.","DOI":"10.1109\/CIRA.2007.382858"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1377","DOI":"10.1109\/TIM.2007.900126","article-title":"Real-Time Tree-Foliage Surface Estimation Using a Ground Laser Scanner","volume":"56","author":"Palacin","year":"2007","journal-title":"IEEE Trans. Instrum. Meas"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1420","DOI":"10.1016\/j.agrformet.2010.07.005","article-title":"Sensitivity of tree volume measurement to trajectory errors from a terrestrial LIDAR scanner","volume":"150","author":"Palleja","year":"2010","journal-title":"Agric. For. Meteorol"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"5894","DOI":"10.3390\/s90805894","article-title":"Curvature-Based Environment Description for Robot Navigation Using Laser Range Sensors","volume":"9","author":"Bandera","year":"2009","journal-title":"Sensors"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"8339","DOI":"10.3390\/s110908339","article-title":"Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance","volume":"11","author":"Espinosa","year":"2011","journal-title":"Sensors"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"429","DOI":"10.3390\/s120100429","article-title":"Sensor Fusion of Monocular Cameras and Laser Rangefinders for Line-Based Simultaneous Localization and Mapping (SLAM) Tasks in Autonomous Mobile Robots","volume":"12","author":"Zhang","year":"2012","journal-title":"Sensors"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"3655","DOI":"10.3390\/s100403655","article-title":"Localization of mobile robots using odometry and an external vision sensor","volume":"10","author":"Pizarro","year":"2010","journal-title":"Sensors"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"5099","DOI":"10.3390\/s90705099","article-title":"Applications and advances in electronic-nose technologies","volume":"9","author":"Wilson","year":"2009","journal-title":"Sensors"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1016\/j.robot.2004.05.002","article-title":"Building gas concentration gridmaps with a mobile robot","volume":"48","author":"Lilienthal","year":"2004","journal-title":"Robot. Auton. Syst"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1616","DOI":"10.3390\/s6111616","article-title":"Airborne Chemical Sensing with Mobile Robots","volume":"6","author":"Lilienthal","year":"2006","journal-title":"Sensors"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2129","DOI":"10.3390\/s110202129","article-title":"Olfaction and Hearing Based Mobile Robot Navigation for Odor\/Sound Source Search","volume":"11","author":"Song","year":"2011","journal-title":"Sensors"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"10415","DOI":"10.3390\/s111110415","article-title":"Collective odor source estimation and search in time-variant airflow environments using mobile robots","volume":"11","author":"Meng","year":"2011","journal-title":"Sensors"},{"key":"ref_22","unstructured":"Scanning Laser Range Finder; UTM-30LX Photo Sensor. Available online: http:\/\/www.hokuyo-aut.jp\/02sensor\/07scanner\/utm_30lx.html\/ (accessed on 17 September 2012)."},{"key":"ref_23","unstructured":"Scanning Laser Range Finder; UTM-30LX\/LN Specification. Available online: http:\/\/www.hokuyo-aut.jp\/02sensor\/07scanner\/download\/products\/utm-30lx\/data\/UTM-30LX_spec_en.pdf\/ (accessed on 17 September 2012)."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"1881","DOI":"10.1109\/TIM.2003.820472","article-title":"A Few Methods for Fitting Circles to Data","volume":"52","author":"Umbach","year":"2003","journal-title":"IEEE Trans. Instrum. Meas"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1016\/S0045-7825(97)00192-8","article-title":"On the least-squares method","volume":"152","author":"Jiang","year":"1998","journal-title":"Comput. Methods Appl. Mech. Eng"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1007\/s10851-005-0482-8","article-title":"Least Squares Fitting of Circles","volume":"23","author":"Chernov","year":"2005","journal-title":"J. Math. Imaging Vis"},{"key":"ref_27","unstructured":"Watson, G.A. (1977). Numerical Analysis, Springer Verlag."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1093\/comjnl\/7.2.149","article-title":"Function minimization by conjugate gradients","volume":"7","author":"Fletcher","year":"1964","journal-title":"Comput. J"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Huang, X., Sasaki, T., Hashimoto, H., and Inoue, F. (2010, January 27\u201330). Circle detection and fitting using laser range finder for positioning system. Gyeonggi-do, Korea.","DOI":"10.1109\/ICCAS.2010.5670307"},{"key":"ref_30","first-page":"886","article-title":"Error analysis for circle fitting algorithms","volume":"3","author":"Chernov","year":"2009","journal-title":"Electr. J. Stat"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"2751","DOI":"10.3390\/s110302751","article-title":"Characterisation of the LMS200 Laser Beam under the Influence of Blockage Surfaces. Influence on 3D Scanning of Tree Orchards","volume":"11","author":"Sanz","year":"2011","journal-title":"Sensors"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"469","DOI":"10.1145\/235815.235821","article-title":"The Quickhull Algorithm for Convex Hulls","volume":"22","author":"Barber","year":"1996","journal-title":"ACM Trans. Math. Softw"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/12\/16482\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:53:53Z","timestamp":1760219633000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/12\/16482"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,11,28]]},"references-count":32,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2012,12]]}},"alternative-id":["s121216482"],"URL":"https:\/\/doi.org\/10.3390\/s121216482","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2012,11,28]]}}}