Hi people, I would like to know if someone already computed the "Noise Intrinsic Model Parameters" from Beam Models of Range Finders - Measurement Model - on Player/Stage? According to Probabilistic Robotics book, they are: Correct range with local measurement noise; Unexpected objects; Failures; Random measurements, i.e., Zhit, Zshort, Zmax, Zrand. In the book there is also the algorithm to calculate, but it shows me difficult. Someone can help? Regards, Fernando - Brazil

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