ASTM E2919 - 13

    Standard Test Method for Evaluating the Performance of Systems that Measure Static, Six Degrees of Freedom (6DOF), Pose

    Active Standard ASTM E2919 | Developed by Subcommittee: E57.02

    Book of Standards Volume: 10.04


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    Significance and Use

    5.1 Pose measurement systems are used in a wide range of fields including manufacturing, material handling, construction, medicine, and aerospace. The use of pose measurement systems could, for example, replace the need to fix the poses of objects of interest by mechanical means.

    5.2 Potential users have difficulty comparing pose measurement systems because of the lack of standard performance specifications and test methods, and must rely on the specifications of a vendor regarding the systemís performance, capabilities, and suitability for a particular application. This standard makes it possible for a user to assess and compare the performance of candidate pose measurement systems, and allows the user to determine if the measured performance results are within the vendorís claimed specifications with regard to the userís application. This standard also facilitates the improvement of pose measurement systems by providing a common set of metrics to evaluate system performance.

    5.3 The intent of this test method is to allow a user to determine the performance of a vendorís system under conditions specific to the userís application, and to determine whether the system still performs in accordance with the vendorís specifications under those conditions. The intention of this test method is not to validate a vendorís claims; although, under specific situations, this test method may be adapted for this purpose.

    1. Scope

    1.1 PurposeóIn this test method, metrics and procedures for collecting and analyzing data to determine the performance of a pose measurement system in computing the pose (position and orientation) of a rigid object are provided.

    1.2 This test method applies to the situation in which both the object and the pose measurement system are static with respect to each other when measurements are performed. Vendors may use this test method to establish the performance limits for their six degrees of freedom (6DOF) pose measurement systems. The vendor may use the procedures described in Section 9.2 to generate the test statistics, then apply an appropriate margin or scaling factor as desired to generate the performance specifications. This test method also provides a uniform way to report the relative or absolute pose measurement capability of the system, or both, making it possible to compare the performance of different systems.

    1.3 Test LocationóThe methodology defined in this test method shall be performed in a facility in which the environmental conditions are within the pose measurement systemís rated conditions and meet the userís requirements.

    1.4 UnitsóThe values stated in SI units are to be regarded as the standard. No other units of measurement are included in this standard.

    1.5 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.


    2. Referenced Documents (purchase separately) The documents listed below are referenced within the subject standard but are not provided as part of the standard.

    ASTM Standards

    E456 Terminology Relating to Quality and Statistics

    E2544 Terminology for Three-Dimensional (3D) Imaging Systems

    ASME Standard

    ASMEB89.4.19 Performance Evaluation of Laser-Based Spherical Coordinate Measurement Systems

    ISO/IEC Standards

    IEC60050-300:2001 International Electrotechnical Vocabulary--Electrical and Electronic Measurements and Measuring Instruments

    JCGM100:2008 Evaluation of Measurement Data--Guide to the Expression of Uncertainty in Measurement (GUM)

    JCGM200:2012 International Vocabulary of Metrology--Basic and General Concepts and Associated Terms (VIM), 3rd edition


    ICS Code

    ICS Number Code 17.040.99 (Other standards relating to linear and angular measurements)

    UNSPSC Code

    UNSPSC Code


    DOI: 10.1520/E2919

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