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Ground Truth Systems for Object Recognition and Tracking



Afzal A. Godil, Roger D. Eastman, Tsai H. Hong


In this report we discuss different types of ground-truth systems used for evaluation of object recognition and tracking systems in industrial manufacturing environments. We discuss three main ways for acquiring ground truth for object recognition and tracking: 1) physics based simulation ground-truth systems, 2) annotation/labeling ground-truth systems, 3) autonomous ground-truth systems, 4) platform-based ground-truth systems, 5) physically sensed ground-truth systems, and 6) optically based motion capture ground-truth systems. We discuss previous efforts and discuss the different physical quantities used for ground-truth systems. At this point there does not seem to be solid, universal solutions to ground truth for human and object detection and tracking. There are a number of partial solutions suitable for particular applications, with varying drawbacks
NIST Interagency/Internal Report (NISTIR) - 7923
Report Number


pose estimation, Ground truth, object recognition, object tracking


Godil, A. , Eastman, R. and Hong, T. (2013), Ground Truth Systems for Object Recognition and Tracking, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online],, (Accessed April 17, 2024)
Created March 28, 2013, Updated October 12, 2021