1. Scope
This Standard provides metrics, measurement methods, and procedures for determining how well a sensor or a perception system determines the six degree of freedom (6DOF) poses of objects of interest. The Standard also provides a preferred way of presenting the capabilities of such sensors or perception systems to enable comparisons. The Standard focuses on non-contact sensors, such as cameras or laser-based sensors that provide pose information. It specifies a uniform way of addressing the environmental characteristics and conditions that affect performance of the sensors and the perception systems. The Standard defines calibration procedures that take into account environmental conditions and defines procedures for collecting and analyzing sample data to evaluate system performance. Some of the procedures make use of standard targets that are also defined. This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety and health practices and determine the applicability of regulatory limitations prior to use.
Pose measurements are used to determine the position and orientation of objects in a wide range of fields, including manufacturing, material handling, construction, and shipbuilding. The ability to measure pose, especially using non-contact methods, greatly simplifies those processes by removing the necessity of maintaining the poses of objects through mechanical means such as fixtures. Pose measurement systems must be trusted in order to be widely applied. This standard provides the means of ensuring that a compliant system will perform as documented in the manufacturers specifications. This standard provides a set of detailed evaluation process, a set of reporting requirements, and a method of validating the performance using less expensive equipment in the field.
Keywords
non-contact measurement; 3-D imaging
The title and scope are in draft form and are under development within this ASTM Committee.
Citing ASTM Standards
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