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Mathematical Metrology for Evaluating a 6DOF Visual Servoing System

Published

Author(s)

Tommy Chang, Tsai H. Hong, Milli Shah, Roger D. Eastman

Abstract

In this paper we develop the best homogeneous matrix trans- formation to fit two streams of dynamic six-degree-of-freedom (6DOF) data for evaluating perception systems using ground truth. In particular, we compare object position and orien- tation results from a 6DOF laser tracker that we consider to be ground truth with results from a real-time visual servoing system from the Purdue Robot Vision Lab. A problem that arises when comparing these two data streams is that they are not necessarily in the same coordinate system. There- fore, a method to transform one coordinate system to the other is needed. We solve this problem by developing an op- timization problem that minimizes the space between each coordinate system. In other words, we construct a rotation and translation which best transforms one coordinate space to the other.
Proceedings Title
Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) 2009
Conference Dates
September 21-23, 2009
Conference Location
Gaithersburg, MD, US

Keywords

homogeneous transformation, 6DOF, ground truth, optimization

Citation

Chang, T. , Hong, T. , Shah, M. and Eastman, R. (2009), Mathematical Metrology for Evaluating a 6DOF Visual Servoing System, Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) 2009, Gaithersburg, MD, US, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=903632 (Accessed April 22, 2024)
Created October 7, 2009, Updated October 12, 2021