  In this paper, some of the distance sensor, including Kinect, Hokuyo
UTM-30LX, and RPLidar were observed experimentally. Strengths and weaknesses of
each sensor were reviewed so that it can be used as a reference for selecting a
suitable sensor for any particular application. A software application has been
developed in C programming language as a platform for gathering information for
all tested sensors. According to the experiment results, it showed that Hokuyo
UTM-30LX results in random normally distributed error on measuring distance
with average error 21.94 mm and variance 32.11. On the other hand, error
measurement resulted by Kinect and RPLidar strongly depended on measured
distance of the object from the sensors, while measurement error resulted by
Kinect had a negative correlation with the measured distance and the error
resulted by RPLidar sensor had a positive correlation with the measured
distance. The performance of these three sensors for detecting a transparent
object shows that the Kinect sensors can detect the transparent object on its
effective range measurement, Hokuyo UTM-30LX can detect the transparent object
in the distance more than equal to 200 mm, and the RPLidar sensor cannot detect
the transparent object at all tested distance. Lastly, the experiment shows
that the Hokuyo UTM-30LX has the fastest processing time significantly, and the
RPLidar has the slowest processing time significantly, while the processing
time of Kinect sensor was in between. These processing times were not
significantly affected by various tested distance measurement.
