Dynamic 6DOF metrology for evaluating a visual servoing system

Authors:
Tommy Chang;Tsai Hong;Michael Shneier;German Holguin;Johnny Park;Roger D. Eastman
Affiliations:
NIST, Gaithersburg, MD;NIST, Gaithersburg, MD;NIST, Gaithersburg, MD;Purdue University, West Lafayette, IN;Purdue University, West Lafayette, IN;Loyola College in Maryland, Baltimore, Maryland
Venue:
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Year:
2008

Citing 7
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Abstract

In this paper we demonstrate the use of a dynamic, six-degree-of-freedom (6DOF) laser tracker to empirically evaluate the performance of a real-time visual servoing implementation, with the objective of establishing a general method for evaluating real-time 6DOF dimensional measurements. The laser tracker provides highly accurate ground truth reference measurements of position and orientation of an object under motion, and can be used as an objective standard for calibration and evaluation of visual servoing and robot control algorithms. The real-time visual servoing implementation used in this study was developed at the Purdue Robot Vision Lab with a subsumptive, hierarchical, and distributed vision-based architecture. Data were taken simultaneously from the laser tracker and visual servoing implementation, enabling comparison of the data streams.