Sensor model 0.125 Approximated Measured Expected distance 0.075 005 0.025 Measured distance y [cm] Sensor model eastre dstanneIF叫 aureddslance len ctet stome响 Laser model built from collected data Laser model fitted to measured data using approximate geometric distributionSensor Model Laser model built from collected data Laser model fitted to measured data, using approximate geometric distribution Sensor Model 100 200 300 Expected distance Measured distance y [cm] P r o b a bility p(y, x) Approximated Measured 400 0 0.025 0.05 500 0.075 0.1 0.125