International Journal of Computer Vision - Special issue on image-based servoing
Model-Based Stereo-Tracking of Non-Polyhedral Objects for Automatic Disassembly Experiments
International Journal of Computer Vision - Special issue on image-based servoing
A Modular Scheme for Controller Design and Performance Evaluation in 3D Visual Servoing
Journal of Intelligent and Robotic Systems
Effect of Camera Calibration Errors on Visual Servoing in Robotics
The 3rd International Symposium on Experimental Robotics III
Viewpoint Variation in the Noise Sensitivity of Pose Estimation
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
A complete symbolic-numeric linear method for camera pose determination
ISSAC '03 Proceedings of the 2003 international symposium on Symbolic and algebraic computation
Dynamic 6DOF metrology for evaluating a visual servoing system
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Methodology for evaluating static six-degree-of-freedom (6DoF) perception systems
Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
Ground truth for evaluating 6 degrees of freedom pose estimation systems
Proceedings of the Workshop on Performance Metrics for Intelligent Systems
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In this paper we develop a homogeneous matrix transformation 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 orientation 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. Therefore, a method to transform one coordinate system to the other is needed. We solve this problem by developing an optimization 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.