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Mathematical metrology for evaluating a 6dof visual servoing system.
| Content Provider | CiteSeerX |
|---|---|
| Author | Shah, Mili Hong, Tommy Chang Tsai Eastman, Roger |
| Abstract | In this paper we develop a homogeneous matrix transfor-mation 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 orien-tation 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. There-fore, a method to transform one coordinate system to the other is needed. We solve this problem by developing an op-timization 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. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Mathematical Metrology Coordinate System Visual Servoing System Laser Tracker Perception System Ground Truth Coordinate Space Object Position Orien-tation Result Homogeneous Matrix Transfor-mation Real-time Visual Servoing System Data Stream Op-timization Problem Purdue Robot Vision Lab |
| Content Type | Text |
| Resource Type | Article |
