Methodology for evaluating Static six-degree-of-freedom (6DoF) Perception Systems

Published

October 15, 2010

Author(s)

Tommy Chang, Tsai H. Hong, Joseph Falco, Michael O. Shneier, Milli Shah, Roger D. Eastman

Abstract

In this paper, we apply two fundamental approaches toward evaluating a static, vision based, six-degree-of-freedom (6DoF) pose determination system that measures the position and orientation of a part. The first approach uses ground\-truth carefully obtained from a laser tracker and the second approach avoids using any external ground\-truth. The evaluation procedure focuses on characterizing both the system's accuracy and precision as well as the effect of object viewpoints. For the ground-truth method, we first use a laser tracker for system calibration and then compare the calibrated output with the surveyed pose. In the method without external ground-truth, we evaluate the effect of viewpoint factors on the system's performance.

Proceedings Title

Proceedings of the 2010 Performance Metrics for Intelligent Systems (PerMIS) Workshop

Conference Dates

September 28-30, 2010

Conference Location

Baltimore, MD, US

Pub Type

Conferences

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Keywords

laser tracker, ground-truth, 6DOF, metrology, performance evaluation

Citation

Chang, T. , Hong, T. , Falco, J. , Shneier, M. , Shah, M. and Eastman, R. (2010), Methodology for evaluating Static six-degree-of-freedom (6DoF) Perception Systems, Proceedings of the 2010 Performance Metrics for Intelligent Systems (PerMIS) Workshop, Baltimore, MD, US, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=906660 (Accessed October 16, 2025)