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Jason Derenick

Post-doctoral Fellow

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Open-Source Software Packages

The Sick LIDAR Matlab/C++ Toolbox

Toolbox Image 1
A Cartesian plot generated using a Sick LD-LRS 1000 streaming data directly into Matlab via the Sick Toolbox.
Toolbox Image 2
A Sick LMS 291-S14 streaming range and reflectivity returns directly into a high-level Matlab process using the toolbox.
Toolbox Image 3
A Cartesian plot of VADER Laboratory generated using a Sick LMS 291-S05.

The Sick LIDAR Matlab/C++ Toolbox is an open-source project released under a BSD Open-Source License that provides stable and easy-to-use C++ drivers for Sick LMS 2xx and Sick LD laser range finders. In addition to low-level drivers, the package also features an easy to use Mex interface, which allows the end-user to stream real-time range and reflectivity data directly into Matlab. This feature is especially attractive as it facilitates the rapid development of algorithms by exploiting the high-level functionality afforded by Matlab's vector-based operations. The toolbox is branched from the source code used by the Ben Franklin Racing Team during the DARPA Urban Challenge. Our entry — Little Ben — employed five Sick LMS 291 and LD-LRS LIDARs during the race, and was one of only six vehicles to successfully complete the 55 mile Urban Challenge Final Event.

The project is hosted on Sourceforge.net. You can view the project's web page and get additional information by visiting its home page at http://sicktoolbox.sourceforge.net.

Toolbox Features

Download the Toolbox