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Publication Citation: Measurement Science for 6DOF object pose ground truth

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Author(s): Roger D. Eastman; Jeremy A. Marvel; Joseph A. Falco; Tsai Hong Hong;
Title: Measurement Science for 6DOF object pose ground truth
Published: June 28, 2013
Abstract: Users of perception systems in industrial manufacturing applications need standardized, third party ground truth procedures to validate system performance before deployment. Many manufacturing robotic applications require parts and assemblies to be perceived, inspected or grasped, and therefore need accurate perception of object pose to six degrees of freedom (6DOF) in X, Y, Z position with roll, pitch and yaw. A standardized 6DOF ground truth system should include test procedures, algorithms, artifacts, fixtures, and measurement equipment all openly documented so manufacturers, vendors, and researchers can recreate and apply the procedures. This article reports on efforts to develop an industrial standard for 6DOF pose measurement, including the design of test methods using a laser-tracker, an aluminum fixture pose fixture, and modular, medium density fiberboard (MDF) pose fixture.
Proceedings: Proceedings of the Computer Vision Pattern Recognition 2013
Pages: pp. 4321 - 4326
Location: Portland, OR
Dates: June 23-28, 2013
Keywords: Manufacture, standards, artifacts, ground truth, 6DOF, measurement
Research Areas: Perception, Metrology, Manufacturing
PDF version: PDF Document Click here to retrieve PDF version of paper (273KB)