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Recently, SOKUIKI sensor is used in various fields including robotics. SOKUIKI sensor "URG-04LX" can take distances by measurement. And by using special mode of the firmware, Received Light Intensity and AGC Voltage Level can be obtained. This paper describes a method to estimate Gray Level of scanned objects by using Received Light Intensity. The method uses AGC Voltage Level for accurate estimation.doi:10.1109/mfi.2008.4648020 dblp:conf/mfi/KawataMHOY08 fatcat:k2ghcwrfqbedbbs7oqfsjjshcy