A comparative study of the robustness of two pose estimation techniques
Machine Vision and Applications - Special issue on performance evaluation
Dynamic 6DOF metrology for evaluating a visual servoing system
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Mathematical metrology for evaluating a 6DOF visual servoing system
PerMIS '09 Proceedings of the 9th 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
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Systems developed to estimate poses of objects in 6 degrees of freedom (6DOF) Cartesian space (X, Y, and Z coordinates plus roll, pitch, and yaw) are reliant on the vendors' own processes to determine performance and measurement accuracy. These practices are not yet standardized, and are rarely reported by the vendors in sufficient detail to enable users and integrators to recreate the process. Efforts must therefore be made to enable the documented and, more importantly, independently repeatable evaluation of such systems using standardized processes, fixtures, and artifacts. In this paper, we describe three 6DOF ground truth systems utilized at the National Institute of Standards and Technology (NIST): a laser-tracker-based system for pose measurement, an aluminum fixture-based system that can be used to set the pose of artifacts, and a modular, medium-density fiberboard (MDF) fixture system. Descriptions, characterizations, and measured accuracies of these systems are provided for reference.