Data collection test-bed for the evaluation of range imaging sensors for ANSI/ITSDF B56.5 safety standard for guided industrial vehicles

In this paper, we describe the process by which we collected sensor data for the evaluation of 3D LIDAR (Light Detection and Ranging). Data were also collected simultaneously from SONAR (Sound Navigation and Ranging) sensors, navigation systems, 2D Laser Measurement Sensor (LMS) and a color camera. We describe software developed to perform data collection and allow for evaluation of the data both offline and in real-time during the data collection and briefly cover the experiments themselves where various obstacles were placed in front of a moving vehicle and results were recorded as to whether the obstacle was detected or not.