Paper Info
Title
Mathematical metrology for evaluating a 6DOF visual servoing system
Abstract
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.
Year
DOI
Venue
2009
10.1145/1865909.1865945
PerMIS
Keywords
Field
DocType
laser tracker,perception system,computer vision,object position,mathematical metrology,real-time visual servoing system,homogeneous matrix transformation,dynamic 6dof metrology,ground truth,optimization problem,performance evaluation,orientation result,purdue robot vision lab,data stream,servo system,coordinate system,visual servoing,degree of freedom
Coordinate system,Computer vision,Data stream mining,Simulation,Computer science,Coordinate space,Ground truth,Artificial intelligence,Visual servoing,Laser tracker,Transformation matrix,Optimization problem
Conference
Citations 
PageRank 
References 
2
0.41
10
Authors
4
Name
Order
Citations
PageRank
Mili Shah1302.58
Tommy Chang2588.34
Tsai Hong313714.46
Roger D. Eastman4598.86