Performance evaluation of consumer-grade 3D sensors for static 6DOF pose estimation systems

摘要

Low-cost 3D depth and range sensors are steadily becoming more widely available and affordable, and thus popular forrobotics enthusiasts. As basic research tools, however, their accuracy and performance are relatively unknown. In thispaper, we describe a framework for performance evaluation and measurement error analysis for 6 degrees of freedompose estimation systems using traceable ground truth instruments. Characterizing sensor drift and variance, andquantifying range, spatial and angular accuracy, our framework focuses on artifact surface fitting and static pose analysis,reporting testing and environmental conditions in compliance with the upcoming ASTM E57.02 standard.© (2012) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.