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Measurement Science for 6DOF object pose ground truth



Roger D. Eastman, Jeremy Marvel, Joseph Falco, Tsai H. Hong


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 Title
Proceedings of the Computer Vision Pattern Recognition 2013
Conference Dates
June 23-28, 2013
Conference Location
Portland, OR, US


Manufacture, standards, artifacts, ground truth, 6DOF, measurement


Eastman, R. , Marvel, J. , Falco, J. and Hong, T. (2013), Measurement Science for 6DOF object pose ground truth, Proceedings of the Computer Vision Pattern Recognition 2013, Portland, OR, US, [online], (Accessed June 23, 2024)


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Created June 27, 2013, Updated October 12, 2021