A method for estimation of lightness of objects with intensity data from SOKUIKI sensor

Recently, SOKUIKI sensor is used in various fields including robotics. SOKUIKI sensor “URG-04LX” can take distances by measurement. And by using special mode of the firmware, Received Light Intensity and AGC Voltage Level can be obtained. This paper describes a method to estimate Gray Level of scanned objects by using Received Light Intensity. The method uses AGC Voltage Level for accurate estimation.