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http://www.intorobotics.com/high-precision-laser-sensors-in-robotics/

http://www.parallax.com/sites/default/files/downloads/28044-LaserRangeFinder-v1.0.pdf

http://www.hokuyo-aut.jp/02sensor/07scanner/download/products/urg-04lx-ug01/data/URG-04LX_UG01_spec_en.pdf