Standard Active Last Updated: Feb 15, 2023 Track Document
ASTM E2919-22

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

Standard Test Method for Evaluating the Performance of Systems that Measure Static, Six Degrees of Freedom (6DOF), Pose E2919-22 ASTM|E2919-22|en-US Standard Test Method for Evaluating the Performance of Systems that Measure Static, Six Degrees of Freedom (6DOF), Pose Standard new BOS Vol. 10.04 Committee E57
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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 system’s 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 vendor’s claimed specifications with regard to the user’s 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 vendor’s system under conditions specific to the user’s application, and to determine whether the system still performs in accordance with the vendor’s specifications under those conditions. The intention of this test method is not to validate a vendor’s claims; although, under specific situations, this test method may be adapted for this purpose.


1.1 Purpose—In 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 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 Location—The methodology defined in this test method shall be performed in a facility in which the environmental conditions are within the pose measurement system’s rated conditions and meet the user’s requirements.

1.4 Units—The 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, health, and environmental practices and determine the applicability of regulatory limitations prior to use.

1.6 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.

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Book of Standards Volume: 10.04
Developed by Subcommittee: E57.23
Pages: 18
DOI: 10.1520/E2919-22
ICS Code: 17.040.99