U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Search Publications by:

Search Title, Abstract, Conference, Citation, Keyword or Author
Displaying 26 - 50 of 121

Targets for Relative Range Error Measurement of 3D Imaging Systems

May 1, 2017
Author(s)
Prem K. Rachakonda, Balasubramanian Muralikrishnan, Katharine M. Shilling, Geraldine S. Cheok, Vincent D. Lee, Christopher J. Blackburn, Dennis S. Everett, Daniel S. Sawyer
The Dimensional Metrology Group (DMG) at the National Institute of Standards and Technology (NIST) is performing research to support the development of documentary standards within ASTM E57 for the point-to-point performance evaluation of 3D imaging

Precision vs Accuracy Dilemma in Point-Based Rigid-Body Registration

March 23, 2017
Author(s)
Marek Franaszek, Geraldine S. Cheok
The purpose of a registration is to find the transformation between two coordinate frames: working frame (from which 3D data are transformed) and destination frame (to which the data are transformed). In point-based, rigid-body registration, the

Performance Evaluation of a 3D Imaging System for Vehicle Safety

February 19, 2017
Author(s)
Alan M. Lytle, Sandor S. Szabo, Geraldine S. Cheok, Kamel S. Saidi, Richard J. Norcross
The NIST Construction Metrology and Automation Group (CMAG), in cooperation with the NIST Intelligent Systems Division (ISD), is developing performance metrics and standard tests for the evaluation of 3D imaging systems used in autonomous mobility

Report on the May 2016 ASTM E57.02 instrument runoff at NIST, Part 1 – Background information and key findings

October 19, 2016
Author(s)
Balasubramanian Muralikrishnan, Prem K. Rachakonda, Katharine M. Shilling, Vincent D. Lee, Christopher J. Blackburn, Daniel S. Sawyer, Geraldine S. Cheok, Luc Cournoyer
There is ongoing activity within ASTM E57.02 working group WK43218 [1] to develop a documentary standard for point-to-point distance performance evaluation of 3D imaging systems. The Dimensional Metrology Group (DMG) at the National Institute of Standards

Report on the May 2016 ASTM E57.02 instrument runoff at NIST, Part 2 - NIST realization of test procedures and uncertainties in the reference lengths

October 19, 2016
Author(s)
Balasubramanian Muralikrishnan, Prem K. Rachakonda, Katharine M. Shilling, Vincent D. Lee, Christopher J. Blackburn, Daniel S. Sawyer, Geraldine S. Cheok, Luc Cournoyer
There is ongoing activity within ASTM E57.02 working group WK43218 [1] to develop a documentary standard for point-to-point distance performance evaluation of 3D imaging systems. The Dimensional Metrology Group (DMG) at the National Institute of Standards

Targets for Relative Range Error Measurement of 3D Imaging Systems.

July 25, 2016
Author(s)
Prem K. Rachakonda, Balasubramanian Muralikrishnan, Katharine M. Shilling, Geraldine S. Cheok, Vincent D. Lee, Christopher J. Blackburn, Dennis S. Everett, Daniel S. Sawyer
The Dimensional Metrology Group (DMG) at the National Institute of Standards and Technology (NIST) is performing research to support the development of documentary standards within ASTM E57 for the point-to-point performance evaluation of 3D imaging

Propagation of Error from Registration Parameters to Transformed Data

June 6, 2016
Author(s)
Mili Shah, Marek Franaszek, Geraldine Cheok
Methods to register two sets of data have existed for quite some time. However, these sets of data are rarely error-free. Consequently, any parameters obtained from a registration method will be affected by the error in the sets of data. Moreover, if these

Guidelines for the Registration of Two Coordinate Frames

March 2, 2016
Author(s)
Geraldine S. Cheok, Marek Franaszek
The purpose of registration is to obtain the transformation matrix between two coordinate frames. Typically, sensors record positional measurements in their own local coordinate frame. When positional data are acquired by two instruments or two datasets

Optimization of Registration Performance Metrics

February 25, 2016
Author(s)
Marek Franaszek, Geraldine Cheok
Perception systems are a very important component of automation and robotics. These systems localize objects in its local coordinate frame and the data has to be available for use in another coordinate frame. This requires that the data be transformed from

Performance Evaluation of Human Detection Systems for Robot Safety

January 22, 2016
Author(s)
William P. Shackleford, Geraldine Cheok, Tsai H. Hong, Kamel Saidi, Michael O. Shneier
Detecting and tracking people is becoming more important in robotic applications because of the increasing demand for collaborative work in which people interact closely with and in the same workspace as robots. New safety standards allow people to work

Techniques to Evaluate Laser Scanners for Advanced Manufacturing Applications

July 23, 2015
Author(s)
Prem K. Rachakonda, Balasubramanian Muralikrishnan, Katharine M. Shilling, Daniel S. Sawyer, Geraldine S. Cheok, Kamel S. Saidi
Laser scanners have become indispensable tools for fast and accurate 3D image acquisition applications such as part inspection, reverse engineering, cultural heritage digitization, surveying, automotive robotic navigation etc. The Dimensional Metrology

Navigation Performance Evaluation for Automated Guided Vehicles

May 12, 2015
Author(s)
Roger V. Bostelman, Tsai Hong Hong, Geraldine S. Cheok
Automatic guided vehicles (AGVs), an industrial form of mobile robot, typically navigate using a central computer commanding AGV movement on predefined paths. Although, how well they follow these paths is less defined in research articles and their

Laser scanner two-face errors on spherical targets

November 11, 2014
Author(s)
Balasubramanian Muralikrishnan, Katharine M. Shilling, Daniel S. Sawyer, Prem K. Rachakonda, Vincent D. Lee, Steven D. Phillips, Geraldine S. Cheok, Kamel S. Saidi
Geometric misalignments within the construction of a laser scanner such as offsets, tilts, and eccentricities, result in systematic errors in the measured point coordinates (range and angles). Many of these sources of error are sensitive to two-face

Obstacle Detection and Avoidance from an Automated Guided Vehicle

September 18, 2014
Author(s)
Roger V. Bostelman, William P. Shackleford, Geraldine S. Cheok
Current automated guided vehicle (AGV) technology typically provides material handling flow along single or dual opposing-flow lanes in manufacturing and distribution facilities. An AGV stops for most any obstacle that may be in its path which then stops

Proposed E57.02 Range Measurement Performance Standard for Medium Range 3D Imaging Systems

November 11, 2013
Author(s)
David MacKinnon, Luc Cournoyer, Kamel Saidi, Geraldine Cheok, Robert Bridges, Darin Ingimarson
We present the proposed standard ASTM E57.02 "Test Method to Evaluate the Range Measurement Performance of 3D Imaging Systems in the Medium Range" (Work Item ASTM WK12373). The stated purpose of the standard is to provide metrics and procedures to evaluate

Real-Time Monitoring: Augmenting Building Information Modeling with 3D Imaging Data to Control Drilling for Embeds into Reinforced Concrete Bridge Decks

September 16, 2013
Author(s)
Manu Akula, Robert R. Lipman, Marek Franaszek, Geraldine Cheok, Kamel Saidi, Vineet Kamat
A major contributing factor attributed to accidents in construction is the lack of hazard recognition due to limited visibility that characterizes construction projects. Real-time monitoring systems that utilize context aware computing techniques

Proposed E57.02 Range Measurement Performance Standard for Medium Range 3D Imaging Systems

July 26, 2013
Author(s)
David MacKinnon, Luc Cournoyer, Kamel Saidi, Geraldine Cheok, Robert Bridges, Darin Ingimarson
We present the proposed standard ASTM E57.02 "Test Method to Evaluate the Range Measurement Performance of 3D Imaging Systems in the Medium Range" (Work Item ASTM WK12373). The stated purpose of the standard is to provide metrics and procedures to evaluate

3D Ground-Truth Systems for Object/Human Recognition and Tracking

June 28, 2013
Author(s)
Afzal A. Godil, Roger V. Bostelman, Kamel Saidi, William P. Shackleford, Geraldine Cheok, Michael O. Shneier, Tsai H. Hong
We have been researching 3D ground-truth systems for performance evaluation of vision and perception systems in the fields of smart manufacturing and robotics safety. In this paper we first present an overview of different systems that have been used to

Safe Control of Manufacturing Vehicles Research Towards Standard Test Methods

June 28, 2012
Author(s)
Roger V. Bostelman, William P. Shackleford, Geraldine S. Cheok, Kamel S. Saidi
The National Institute of Standards and Technology's Intelligent Systems Division has been researching several areas leading to safe control of manufacturing vehicles to improve AGV safety standards. The research areas include: - Automated guided vehicle