In this paper we demonstrate the use of a dynamic, six-degree-of-freedom (6DOF) laser tracker to empirically evaluate the performance of a real-time visual servoing implementation, with the objective of establishing a general method for evaluating real-time 6DOF dimensional measurements. The laser tracker provides highly accurate, ground truth reference measurements of position and orientation of an object under motion, and can be used as an objective standard for calibration and evaluation of visual servoing and robot control algorithms. The real-time visual servoing implementation used in this study was developed at the Purdue Robot Vision Lab with a subsumptive, hierarchical, and distributed vision-based architecture. Data was taken simultaneously from the laser tracker and visual servoing implementation, enabling comparison of the data streams.
Proceedings Title: Proceedings of the 2008 Performance Metrics for Intelligent Systems (PerMIS) Workshop
Conference Dates: August 19-21, 2008
Conference Location: Gaithersburg, MD
Pub Type: Conferences
computer vision, Laser tracker, performance evaluation