Materials Sensing-Capability Reduction Against Distance Sensors Wooden Rods Steel Rods Acrylic Rods Single Rod Four Rods Velodyne VLP-16 4,000 3,000 2,000 1,000 Wood Steel Acryl Wood(4) Steel(4) Acryl(4) 23 45 67 Distance (m) RPLIDAR A2 4 3 2 1 23 45 67 Distance (m) CE30-D 140 105 70 35 23 45 67 Distance (m) HPS-3D160-U 400 300 200 100 234567 Distance (m) ×104 2 1.5 1 IWR 1443 0.5 123456 7 Distance (m) 2 1.5 1 0.5 123456 7 Distance (m) ×104 2 1.5 1 0.5 1234567 Distance (m) ×104 12,000 15,000 9,000 6,000 3,000 234567 Distance (m) 2.5 2 1.5 1 X4M03 0.5 123456 7 Distance (m) 8 6 4 2 123456 7 Distance (m) 5 3 4 2 1 123456 7 Distance (m) 8 6 4 2 23 45 67 Distance (m) FIGURE 3. A comparison of the object detection ability of four lidar and two radar sensors. The detected rods are shown in yellow. SEPTEMBER 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE 33 Amplitude Amplitude Four Rods Single Rod Four Rods Single Rod Amplitude Amplitude Amplitude Amplitude Peak Amplitude Peak Amplitude Number of Points Number of Points Number of Points Number of Points