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Dynamic 6DOF Metrology for Evaluating a Visual Servoing



Tommy Chang, Tsai H. Hong, Michael O. Shneier, G Holguin, J Park, Roger D. Eastman


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, US


computer vision, Laser tracker, performance evaluation


Chang, T. , Hong, T. , Shneier, M. , Holguin, G. , Park, J. and Eastman, R. (2008), Dynamic 6DOF Metrology for Evaluating a Visual Servoing, Proceedings of the 2008 Performance Metrics for Intelligent Systems (PerMIS) Workshop, Gaithersburg, MD, US, [online], (Accessed April 20, 2024)
Created August 20, 2008, Updated October 12, 2021