1、Designation: E2919 14Standard Test Method forEvaluating the Performance of Systems that Measure Static,Six Degrees of Freedom (6DOF), Pose1This standard is issued under the fixed designation E2919; the number immediately following the designation indicates the year oforiginal adoption or, in the cas
2、e 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.1. Scope1.1 PurposeIn this test method, metrics and proceduresfor collecting and analyzing data to dete
3、rmine the performanceof a pose measurement system in computing the pose (positionand orientation) of a rigid object are provided.1.2 This test method applies to the situation in which boththe object and the pose measurement system are static withrespect to each other when measurements are performed.
4、Vendors may use this test method to establish the performancelimits for their six degrees of freedom (6DOF) pose measure-ment systems. The vendor may use the procedures described in9.2 to generate the test statistics, then apply an appropriatemargin or scaling factor as desired to generate the perfo
5、rmancespecifications. This test method also provides a uniform way toreport the relative or absolute pose measurement capability ofthe system, or both, making it possible to compare theperformance of different systems.1.3 Test LocationThe methodology defined in this testmethod shall be performed in
6、a facility in which the environ-mental conditions are within the pose measurement systemsrated conditions and meet the users requirements.1.4 UnitsThe values stated in SI units are to be regardedas the standard. No other units of measurement are included inthis standard.1.5 This standard does not pu
7、rport to address all of thesafety concerns, if any, associated with its use. It is theresponsibility of the user of this standard to establish appro-priate safety and health practices and determine the applica-bility of regulatory limitations prior to use.2. Referenced Documents2.1 ASTM Standards:2E
8、456 Terminology Relating to Quality and StatisticsE2544 Terminology for Three-Dimensional (3D) ImagingSystems2.2 ASME Standard:3ASME B89.4.19 Performance Evaluation of Laser-BasedSpherical Coordinate Measurement Systems2.3 ISO/IEC Standards:4JCGM 200:2012 International Vocabulary of MetrologyBasic a
9、nd General Concepts andAssociated Terms (VIM),3rd editionJCGM 100:2008 Evaluation of Measurement DataGuideto the Expression of Uncertainty in Measurement (GUM)IEC 60050-300:2001 International ElectrotechnicalVocabularyElectrical and Electronic Measurements andMeasuring Instruments3. Terminology3.1 D
10、efinitions from Other Standards:3.1.1 calibration, noperation that, under specifiedconditions, in a first step, establishes a relation between thequantity values with measurement uncertainties provided bymeasurement standards and corresponding indications withassociated measurement uncertainties and
11、, in a second step,uses this information to establish a relation for obtaining ameasurement result from an indication. JCGM 200:20123.1.1.1 Discussion(1) A calibration may be expressed by a statement, calibra-tion function, calibration diagram, calibration curve, or cali-bration table. In some cases
12、, it may consist of an additive ormultiplicative correction of the indication with associatedmeasurement uncertainty.1This test method is under the jurisdiction of ASTM Committee E57 on 3DImaging Systems and is the direct responsibility of Subcommittee E57.02 on TestMethods.Current edition approved
13、July 1, 2014. Published August 2014. Originallyapproved in 2013. Last previous edition approved in 2013 as E2919-13. DOI:10.1520/E2919-14.2For referenced ASTM standards, visit the ASTM website, www.astm.org, orcontact ASTM Customer Service at serviceastm.org. For Annual Book of ASTMStandards volume
14、information, refer to the standards Document Summary page onthe ASTM website.3Available from American Society of Mechanical Engineers (ASME), ASMEInternational Headquarters, Three Park Ave., New York, NY 10016-5990, http:/www.asme.org.4Available from American National Standards Institute (ANSI), 25
15、W. 43rd St.,4th Floor, New York, NY 10036, http:/www.ansi.org.Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States1(2) Calibration should not be confused with either adjust-ment of a measuring system, often mistakenly called “self-calibrat
16、ion,” or verification of calibration.(3) Often, the first step alone in 3.1.1 is perceived as beingcalibration.3.1.2 maximum permissible measurement error, maximumpermissible error, and limit of error, nextreme value ofmeasurement error, with respect to a known reference quantityvalue, permitted by
17、specifications or regulations for a givenmeasurement, measuring instrument, or measuring system.JCGM 200:20123.1.2.1 Discussion(1) Usually, the terms “maximum permissible errors” or“limits of error” are used when there are two extreme values.(2) The term “tolerance” should not be used to designate“m
18、aximum permissible error.”3.1.3 measurand, nquantity intended to be measured.JCGM 200:20123.1.3.1 Discussion(1) The specification of a measurand requires knowledge ofthe kind of quantity; description of the state of thephenomenon, body, or substance carrying the quantity, includ-ing any relevant com
19、ponent; and the chemical entities in-volved.(2) In the second edition of the VIM and IEC 60050-300,the measurand is defined as the “quantity subject to measure-ment.”(3) The measurement, including the measuring system andthe conditions under which the measurement is carried out,might change the phen
20、omenon, body, or substance such thatthe quantity being measured may differ from the measurand asdefined. In this case, adequate correction is necessary.(a) Example 1The potential difference between theterminals of a battery may decrease when using a voltmeterwith a significant internal conductance t
21、o perform the measure-ment. The open-circuit potential difference can be calculatedfrom the internal resistances of the battery and the voltmeter.(b) Example 2The length of a steel rod in equilibriumwith the ambient Celsius temperature of 23C will be differentfrom the length at the specified tempera
22、ture of 20C, which isthe measurand. In this case, a correction is necessary.(4) In chemistry, “analyte,” or the name of a substance orcompound, are terms sometimes used for “measurand.” Thisusage is erroneous because these terms do not refer toquantities.3.1.4 measurement error, error of measurement
23、, and error,nmeasured quantity value minus a reference quantity value.JCGM 200:20123.1.4.1 Discussion(1) The concept of “measurement error” can be used both:(a) When there is a single reference quantity value torefer to, which occurs if a calibration is made by means of ameasurement standard with a
24、measured quantity value havinga negligible measurement uncertainty or if a conventionalquantity value is given, in which case the measurement error isknown, and(b) If a measurand is supposed to be represented by aunique true quantity value or a set of true quantity values ofnegligible range, in whic
25、h case the measurement error is notknown.(2) Measurement error should not be confused with pro-duction error or mistake.3.1.5 measurement sample and sample, ngroup of obser-vations or test results, taken from a larger collection ofobservations or test results, that serves to provide informationthat
26、may be used as a basis for making a decision concerningthe larger collection. E4563.1.6 measurement uncertainty, uncertainty ofmeasurement, and uncertainty, nnon-negative parametercharacterizing the dispersion of the quantity values beingattributed to a measurand based on the information used.JCGM 2
27、00:20123.1.6.1 Discussion(1) Measurement uncertainty includes components arisingfrom systematic effects, such as components associated withcorrections and the assigned quantity values of measurementstandards, as well as the definitional uncertainty. Sometimesestimated systematic effects are not corr
28、ected for but, instead,associated measurement uncertainty components are incorpo-rated.(2) The parameter may be, for example, a standard devia-tion called standard measurement uncertainty (or a specifiedmultiple of it) or the half width of an interval, having a statedcoverage probability.(3) Measure
29、ment uncertainty comprises, in general, manycomponents. Some of these may be evaluated by Type Aevaluation of measurement uncertainty from the statisticaldistribution of the quantity values from series of measurementsand can be characterized by standard deviations. The othercomponents, which may be
30、evaluated by Type B evaluation ofmeasurement uncertainty, can also be characterized by stan-dard deviations evaluated from probability density functionsbased on experience or other information.(4) In general, for a given set of information, it is under-stood that the measurement uncertainty is assoc
31、iated with astated quantity value attributed to the measurand. A modifica-tion of this value results in a modification of the associateduncertainty.3.1.7 precision, ncloseness of agreement between inde-pendent test results obtained under stipulated conditions. E4563.1.7.1 Discussion(1) Precision dep
32、ends on random errors and does not relateto the true value or the specified value.(2) The measure of precision is usually expressed in termsof imprecision and computed as a standard deviation of the testresults. Less precision is reflected by a larger standard devia-tion.(3) “Independent test result
33、s” means results obtained in amanner not influenced by any previous result on the same orsimilar test object. Quantitative measures of precision dependcritically on the stipulated conditions. Repeatability and repro-ducibility conditions are particular sets of extreme stipulatedconditions.E2919 1423
34、.1.8 rated conditions, nmanufacturer-specified limits onenvironmental, utility, and other conditions within which themanufacturers performance specifications are guaranteed atthe time of installation of the instrument. ASME B89.4.193.1.9 reference quantity value and reference value,nquantity value u
35、sed as a basis for comparison with values ofquantities of the same kind. JCGM 200:20123.1.9.1 Discussion(1) A reference quantity value can be a true quantity valueof a measurand, in which case it is unknown, or a conventionalquantity value, in which case it is known.(2) A reference quantity value wi
36、th associated measure-ment uncertainty is usually provided with reference to:(a) Amaterial, for example, a certified reference material;(b) A device, for example, a stabilized laser;(c) A reference measurement procedure; and(d) A comparison of measurement standards.3.1.10 registration, nprocess of d
37、etermining and applyingto two or more datasets the transformations that locate eachdataset in a common coordinate system so that the datasets arealigned relative to each other. E25443.1.10.1 Discussion(1) A three-dimensional (3D) imaging system generallycollects measurements in its local coordinate
38、system. When thesame scene or object is measured from more than one position,it is necessary to transform the data so that the datasets fromeach position have a common coordinate system.(2) Sometimes the registration process is performed on twoor more datasets that do not have regions in common. For
39、example, when several buildings are measured independently,each dataset may be registered to a global coordinate systeminstead of to each other.(3) In the context of this definition, a dataset may be amathematical representation of surfaces or may consist of a setof coordinates, for example, a point
40、 cloud, a 3D image, controlpoints, survey points, or reference points from a computer-aided drafted (CAD) model.Additionally, one of the datasets ina registration may be a global coordinate system (as in3.1.10.1(2).(4) The process of determining the transformation ofteninvolves the minimization of a
41、n error function, such as the sumof the squared distances between features (for example, points,lines, curves, and surfaces) in two datasets.(5) In most cases, the transformations determined from aregistration process are rigid body transformations. This meansthat the distances between points within
42、 a dataset do notchange after applying the transformations, that is, rotations andtranslations.(6) In some cases, the transformations determined from aregistration process are nonrigid body transformations. Thismeans that the transformation includes a deformation of thedataset. One purpose of this t
43、ype of registration is to attempt tocompensate for movement of the measured object or deforma-tion of its shape during the measurement.(7) Registration between two point clouds is sometimesreferred to as cloud-to-cloud registration, between two sets ofcontrol or survey points as target-to-target, be
44、tween a pointcloud and a surface as cloud-to-surface, and between twosurfaces as surface-to-surface.(8) The word alignment is sometimes used as a synony-mous term for registration. However, in the context of thisdefinition, an alignment is the result of the registration process.3.1.11 true quantity
45、value, true value of a quantity, and truevalue, nquantity value consistent with the definition of aquantity. JCGM 200:20123.1.11.1 Discussion(1) In the error approach to describing measurement, a truequantity value is considered unique and, in practice, unknow-able. The uncertainty approach is to re
46、cognize that, owing tothe inherently incomplete amount of detail in the definition ofa quantity, there is not a single true quantity value but rather aset of true quantity values consistent with the definition.However, this set of values is, in principle and practice,unknowable. Other approaches dis
47、pense altogether with theconcept of true quantity value and rely on the concept ofmetrological compatibility of measurement results for assess-ing their validity.(2) In the special case of a fundamental constant, thequantity is considered to have a single true quantity value.(3) When the definitiona
48、l uncertainty associated with themeasurand is considered to be negligible compared to the othercomponents of the measurement uncertainty, the measurandmay be considered to have an “essentially unique” truequantity value. This is the approach taken by JCGM 100 andassociated documents in which the wor
49、d “true” is considered tobe redundant.3.2 Definitions of Terms Specific to This Standard:3.2.1 absolute pose, npose of an object in the coordinateframe of the system under test.3.2.2 degree of freedom, DOF, nany of the minimumnumber of translation or rotation components required tospecify completely the pose of a rigid body.3.2.2.1 Discussion(1) In a 3D space, a rigid object can have at most 6DOFs,three translation and three rotation.(2) The term “degree of freedom” is also used with regardto statistical testing. It will be clear from the context
