1、Designation: E2566 17E2566 17aStandard Test Method forDetermining Visual Acuity and Field of View of On-BoardVideo Systems for Teleoperation of Robots for UrbanSearch and Rescue ApplicationsEvaluating Response RobotSensing: Visual Acuity1This standard is issued under the fixed designation E2566; the
2、 number immediately following the designation indicates the year oforiginal adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. Asuperscript epsilon () indicates an editorial change since the last revision or reapproval.INTR
3、ODUCTIONThe robotics community needs ways to measure whether a particular robot is capable of performingspecific missions in unstructured and often hazardous environments. These missions decompose intoelemental robot tasks that can be represented individually as standard test methods and practices.
4、Theassociated test apparatuses and performance metrics provide a tangible language to communicatevarious mission requirements. They also enable repeatable testing to establish the reliability ofessential robot capabilities.The ASTM International Standards Committee on Homeland Security Applications
5、(E54) specifiesstandard test methods and practices for evaluating individual robot capabilities. These standardsfacilitate comparisons across robot models, or across various diverse models or multiple configura-tions of a particular robot model. They single model. The standards support robot researc
6、hers,manufacturers, and user organizations in different ways. Researchers use them the standards tounderstand mission requirements, encourage innovation, and demonstrate break-through capabilities.Manufacturers use them the standards to evaluate design decisions, integrate emerging technologies,and
7、harden developed systems. User organizations leverage the resulting robot capabilities data toguide purchasing, purchasing decisions, align deployment objectives, and focus training with standardmeasures of operator proficiency. An associated usage guide describesAssociated usage guidesdescribe how
8、such standards can be implementedapplied to support these various objectives.The overall suite of standards addresses critical subsystems of remotely operated response robots,including maneuvering, mobility, dexterity, sensing, energy, communications, durability, proficiency,autonomy, logistics, saf
9、ety, and terminology. This test method is part of the sensingSensing test suiteand addresses the visual acuity of onboard cameras.1. Scope1.1 This test method covers the measurement of several key parameters of video systems for remote operations. It is initiallyintended for applications of robots f
10、or Urban Search and Rescue but is sufficiently general to be used for marine or other remoteplatforms. Those parameters are (The purpose of this test method is to specify 1) field of view of the camera system, (theapparatuses, procedures, 2) visual acuity at far distances with both ambient lighting
11、and lighting on-board the robot, (andperformance metrics necessary to quantitatively3) visual acuity at near distances, again in both light and dark environments, and( measure a robots visual acuity as displayed to a remote operator or vision algorithm. The primary performance4), if available,visual
12、 acuity in both light and dark environments with zoom lens capability. metric for this test method shall be a robots possessionof such a capability with a specified statistical significance level.1.2 Secondary performance metrics are the robots field of view and aspect ratio.1 This test method is un
13、der the jurisdiction of ASTM Committee E54 on Homeland Security Applications and is the direct responsibility of Subcommittee E54.09 onResponse Robots.Current edition approved Jan. 1, 2017Sept. 1, 2017. Published February 2017November 2017. Originally approved in 2008. Last previous edition approved
14、 in 20082017as E2566 08.E2566 17. DOI: 10.1520/E2566-17.10.1520/E2566-17A.This document is not an ASTM standard and is intended only to provide the user of an ASTM standard an indication of what changes have been made to the previous version. Becauseit may not be technically possible to adequately d
15、epict all changes accurately, ASTM recommends that users consult prior editions as appropriate. In all cases only the current versionof the standard as published by ASTM is to be considered the official document.Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA
16、19428-2959. United States11.3 These tests measure only end-to-end capability, that is, they determine the resolution of the images on the display screenat the operator control unit since that is the important issue for the user. This test method can also be used to measure the operatorproficiency in
17、 performing the specified task. The corresponding performance metric may be the number of completed taskrepetitions per minute over an assigned time period ranging from 10 to 30 minutes.1.4 This test method is intended to be used for writing procurement specifications and for acceptance testing for
18、robots for urbansearch and rescue applications.a part of the sensing suite of response robot test methods, but this test method is stand-alone andcomplete. This test method applies to systems operated remotely from a standoff distance appropriate for the intended mission. Thesystem includes a remote
19、 operator in control of all functionality and any assistive features or autonomous behaviors that improvethe effectiveness or efficiency of the overall system.1.5 The apparatus, specified in Section 6, can only test a limited range of a robots capabilities. When the robot has been testedthrough the
20、limit or limits of the apparatus, a note shall be associated with the results indicating that the robots actual capabilitymay be outside of the limit or limits imposed by the test apparatus. For example, the robot could exceed the capabilities of theprinting process used to create the charts used in
21、 the apparatus.1.6 Performing LocationThis test method will use the Snellen fraction to report visual acuity; readers may wish to convertto decimal notation to improve intuitive understanding if they are more familiar with that notation. Distances will be given inmetres with English units in parenth
22、eses following. may be performed anywhere the specified apparatuses and environmentalconditions can be implemented.1.7 UnitsThis standard does not purport to address all of the safety concerns, if any, associated with its use. It is theresponsibility of the user of this standard to establish appropr
23、iate safety and health practices and determine the applicability ofregulatory limitations prior to use.The values stated in either SI units or inch-pound units are to be regarded separately as standard.The values stated in each system may not be exact equivalents; therefore, each system shall be use
24、d independently of the other.Combining values from the two systems may result in nonconformance with the standard. Both units are referenced to facilitateacquisition of materials internationally and minimize fabrication costs.1.8 This standard does not purport to address all of the safety concerns,
25、if any, associated with its use. It is the responsibilityof the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability ofregulatory limitations prior to use.1.9 This international standard was developed in accordance with internatio
26、nally recognized principles on standardizationestablished in the Decision on Principles for the Development of International Standards, Guides and Recommendations issuedby the World Trade Organization Technical Barriers to Trade (TBT) Committee.2. Referenced Documents2.1 ASTM Standards:2E2521 Termin
27、ology for Evaluating Response Robot CapabilitiesE2592 Practice for Evaluating Response Robot Capabilities: Logistics: Packaging for Urban Search and Rescue Task ForceEquipment Caches2.2 Additional Standards:ISO 12233 Photography Electronic Still Picture Imaging Resolution and Spatial Frequency Respo
28、nses3ISO 8596:2009 Ophthalmic Optics Visual Acuity Testing Standard Symbol and Its Presentation3ISO/IEC 18004:2015 Information Automatic Identification and Data Capture Techniques QR Code Barcode SymbologySpecification3. Terminology3.1 The following terms are used in this test method and are defined
29、 in Terminology E2521: abstain, administrator or testadministrator, emergency response robot or response robot, fault condition, operator, operator station, remote control, repetition,robot, teleoperation, test event or event, test form, test sponsor, test suite, testing target or target, testing ta
30、sk or task, and trial ortest trial.3.2 Definitions: The following terms are used in this test method and defined below. For further discussion, please refer toAppendix X1.3.2.1 field of view, aspect ratio, nangle subtended by the largest object that can be imaged with the video the ratio of widthto
31、height of the image produced by a camera system.2 Messina, E., et al., “Statement For referenced ASTM standards, visit the ASTM website, www.astm.org, or contact ASTM Customer Service at serviceastm.org. Forof Requirements forAnnual Book of ASTM Standards Urban Search and Rescue Robot Performance St
32、andards,” http:/www.isd.mel.nist.gov/US 20/40 = 6/12=0.5, etc. Measurements may be taken at any distance and the result scaled to the common distance.3.2 The meaning of 6/12 (20/40 or 0.5) is that features that can be resolved at 6 m (20 ft) by the test subject are of a size suchthat a person with “
33、standard” visual acuity could resolve them at 12 m (40 ft). The characters on the 6/12 (20/40, 0.5) line of aneye chart are twice the size of the characters on the 6/6 (20/20, 1.0) line. The best human vision is not 6/6 (20/20, 1.0), resolving1 min of arc (1/60 = .016) but more like 6/3.6 (20/12, 1.
34、7), resolving about 0.01.4. Summary of Test Method4.1 This test method uses standard symbols of incrementally small sizes viewed by a robot from specified distances to measurethe far-field and near-field visual acuity of each onboard camera as displayed on a remote operator interface. The metric is
35、the sizeof the smallest object that can be resolved, in millimeters, at the far-field and near-field.Attributes of aspect ratio and field of vieware also measured for each camera.4.2 The apparatuses required to perform the measurements are visual acuity test charts displayed at a far-field distance
36、of 6 m20 ft and a near-field distance of 40 cm 16 in. from the robot. The remote operator identifies Landolt C symbols with gaps inany of eight different orientations. Autonomous systems with image processing capabilities identify machine readable symbolsknown as quick response codes (QR codes).4.3
37、The conditions include lighted and darkened room or hallway of sufficient length and width to accommodate the robot andthe charts at the specified distances (see Fig. 1). Illumination from the robot is allowed.Alight meter shall be available to measurethe light conditions.5. Significance and Use5.1
38、Various levels of visual acuity are essential when remotely operating robots in unstructured and often hazardousenvironments. Missions typically include establishing situational awareness, finding available paths, maneuvering throughobstacles, identifying objects of interest, and performing detailed
39、 inspections. This test method measures robot system far-field andnear-field visual acuity which are applicable to virtually every mission. These quantitative measures of performance provide acommon language that allows robot users to better understand and express their own requirements and improve
40、the way visualsensing capabilities are specified.FIG. 1 Tumbling(A E Optotype in Various Orientations) An example of a far-field visual acuity chart as viewed by a robot 6 m 2 ft awayand displayed on a remote operator interface. The chart contains lines of ten standard symbols in incrementally small
41、 sizes along withitems of interest to highlight the applicability of different levels with acuity (road signs, hazmat placards, shipping labels, etc.). (B) Thestandard symbols to identify are called Landolt Rings with gaps in any of eight different orientations. Concentrically displayed LandoltRings
42、 contain increasing small symbols within each other. (C) Similarly, increasingly small QR codes are used to evaluate the acuity ofautonomous systems with image processing capabilities.E2566 17a45.2 Responder-defined requirements for these test methods are documented in a preliminary document entitle
43、d “Statement ofRequirements for Urban Search and Rescue Robot Performance Standards.”Multiple cameras could be incorporated into remotelyoperated robotic systems since a single camera is unlikely to be effective for all aspects of a mission. For example, cameras withzoom lenses are often used for fa
44、r-field tasks. Cameras with close focus capabilities are often used for near-field tasks. Wide-anglelenses are often used for driving and obstacle avoidance. This test method characterizes each onboard camera to understand overallsystem capabilities.5.3 This test method provides a way to unambiguous
45、ly specify robot requirements in terms of the related measures of visualacuity and field of view. This helps quantify the trade-offs and general usefulness of optical versus digital zoom cameras and fixedversus variable focus lenses. The visual acuity charts can also help provide quantitative measur
46、es of performance within other testmethods and training scenarios. See Figs. 2-4 for illustrations.5.4 This test method helps evaluate the effect of illumination on visual acuity. In dark environments, robots typically need toilluminate the scene to be effective. Far-field objects downrange require
47、much greater light intensity than near-field objects closeto the robot. Variable illumination helps ensure the scene is neither too dark nor overwhelmingly lighted so as to thwart thecameras ability to discern visual details (so-called “washout” of the image). Variable illumination is especially imp
48、ortant whenquickly transitioning from far-field to near-field and back again.5.5 Key features of response robots are that they are remotely operated from safe standoff distances, deployable at operationaltempos, capable of operating in complex environments, sufficiently hardened against harsh enviro
49、nments, reliable and fieldserviceable, durable or cost-effectively disposable, and equipped with operational safeguards.As such, a major advantage of usingrobots in response operations is to enhance the safety and effectiveness of responders or soldiers.5.6 Field of View is important in terms of the ability of the operator to drive the robot. Looking at the world through a zoomlens is like “looking through a soda straw.” Looking with a 30 or 40 field of view lens is like “driving with blinders on.” On theother hand, using a very wide field of view
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