ASTM E2566-17
(Test Method)Standard Test Method for Determining Visual Acuity and Field of View of On-Board Video Systems for Teleoperation of Robots for Urban Search and Rescue Applications
Standard Test Method for Determining Visual Acuity and Field of View of On-Board Video Systems for Teleoperation of Robots for Urban Search and Rescue Applications
SIGNIFICANCE AND USE
4.1 Responder-defined requirements for these test methods are documented in a preliminary document entitled “Statement of Requirements for Urban Search and Rescue Robot Performance Standards.”2
4.2 Field of View is important in terms of the ability of the operator to drive the robot. Looking at the world through a zoom lens is like “looking through a soda straw.” Looking with a 30 or 40° field of view lens is like “driving with blinders on.” On the other hand, using a very wide field of view lens (with a field of view of 120 or 150°), the operator’s use of optic flow to cue depth perception is severely degraded and navigating in a tight environment is very difficult. Multiple cameras are recommended, with one providing a very wide field of view or all together providing a very wide field of view.
4.3 Far Vision Visual Acuity is important for both unmanned air vehicles (UAVs) and ground vehicles for wide area survey. Zoom is required for ground vehicles for wide area survey.
4.4 Near Vision Visual Acuity is important for ground vehicles for wide area survey in examining objects at close range and also for small robots which operate in constrained spaces.
4.5 Testing in the dark is important for small robots since they must sometimes operate in spaces with no ambient lighting.
SCOPE
1.1 This test method covers the measurement of several key parameters of video systems for remote operations. It is initially intended for applications of robots for Urban Search and Rescue but is sufficiently general to be used for marine or other remote platforms. Those parameters are (1) field of view of the camera system, (2) visual acuity at far distances with both ambient lighting and lighting on-board the robot, (3) visual acuity at near distances, again in both light and dark environments, and (4), if available, visual acuity in both light and dark environments with zoom lens capability.
1.2 These tests measure only end-to-end capability, that is, they determine the resolution of the images on the display screen at the operator control unit since that is the important issue for the user.
1.3 This test method is intended to be used for writing procurement specifications and for acceptance testing for robots for urban search and rescue applications.
1.4 This test method will use the Snellen fraction to report visual acuity; readers may wish to convert to decimal notation to improve intuitive understanding if they are more familiar with that notation. Distances will be given in metres with English units in parentheses following.
1.5 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety and health practices and determine the applicability of regulatory limitations prior to use.
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Designation: E2566 − 17
Standard Test Method for
Determining Visual Acuity and Field of View of On-Board
Video Systems for Teleoperation of Robots for Urban
1
Search and Rescue Applications
This standard is issued under the fixed designation E2566; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision.Anumber in parentheses indicates the year of last reapproval.A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
INTRODUCTION
Theroboticscommunityneedswaystomeasurewhetheraparticularrobotiscapableofperforming
specific missions in unstructured and often hazardous environments. These missions decompose into
elemental robot tasks that can be represented individually as standard test methods and practices.The
associated test apparatuses and performance metrics provide a tangible language to communicate
various mission requirements. They also enable repeatable testing to establish the reliability of
essential robot capabilities.
TheASTM International Standards Committee on Homeland SecurityApplications (E54) specifies
standard test methods and practices for evaluating individual robot capabilities. These standards
facilitate comparisons across robot models, or across various configurations of a particular robot
model. They support robot researchers, manufacturers, and user organizations in different ways.
Researchers use them to understand mission requirements, encourage innovation, and demonstrate
break-through capabilities. Manufacturers use them to evaluate design decisions, integrate emerging
technologies, and harden systems. User organizations leverage the resulting robot capabilities data to
guide purchasing, align deployment objectives, and focus training with standard measures of operator
proficiency.An associated usage guide describes how such standards can be implemented 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, safety, and terminology. This test method is part of the sensing test suite and
addresses the acuity of onboard cameras.
1. Scope 1.2 These tests measure only end-to-end capability, that is,
they determine the resolution of the images on the display
1.1 Thistestmethodcoversthemeasurementofseveralkey
screen at the operator control unit since that is the important
parameters of video systems for remote operations. It is
issue for the user.
initially intended for applications of robots for Urban Search
and Rescue but is sufficiently general to be used for marine or
1.3 This test method is intended to be used for writing
other remote platforms. Those parameters are (1) field of view
procurement specifications and for acceptance testing for
of the camera system, (2) visual acuity at far distances with
robots for urban search and rescue applications.
both ambient lighting and lighting on-board the robot, (3)
1.4 This test method will use the Snellen fraction to report
visual acuity at near distances, again in both light and dark
visual acuity; readers may wish to convert to decimal notation
environments, and (4), if available, visual acuity in both light
to improve intuitive understanding if they are more familiar
and dark environments with zoom lens capability.
with that notation. Distances will be given in metres with
English units in parentheses following.
1
1.5 This standard does not purport to address all of the
This test method is under the jurisdiction of ASTM Committee E54 on
Homeland Security Applications and is the direct responsibility of Subcommittee
safety concerns, if any, associated with its use. It is the
E54.09 on Response Robots.
responsibility of the user of this standard to establish appro-
Current edition approved Jan. 1, 2017. Published February 2017. Originally
priate safety and health practices and determine the applica-
approved in 2008. Last previous edition approved in 2008 as E2566–08. DOI:
10.1520/E2566-17. bility of regulatory limitations prior to use.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2566 − 17
2. Terminology fraction” as the common measure of visual acuity: 20/20,
20/40, and so on.The Snellen fraction is also used in England,
2.1 Definitions:
referred to6masthe standard measurement distance (6/6,
2.1.1 field of view, n—angle subtended by the largest object
6/12, etc.), while the rest of Europe generally used the decimal
that can be imaged with the video system.
fraction equivalent: 20/20 = 6/6 = 1.0; 20/40 = 6/12=0.5, etc.
2.1.2 optotype,
...
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. Because
it may not be technically possible to adequately depict all changes accurately, ASTM recommends that users consult prior editions as appropriate. In all cases only the current version
of the standard as published by ASTM is to be considered the official document.
Designation: E2566 − 08 E2566 − 17
Standard Test Method for
Determining Visual Acuity and Field of View of On-Board
Video Systems for Teleoperation of Robots for Urban
1
Search and Rescue Applications
This standard is issued under the fixed designation E2566; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
INTRODUCTION
The robotics community needs ways to measure whether a particular robot is capable of performing
specific missions in unstructured and often hazardous environments. These missions decompose into
elemental robot tasks that can be represented individually as standard test methods and practices. The
associated test apparatuses and performance metrics provide a tangible language to communicate
various mission requirements. They also enable repeatable testing to establish the reliability of
essential robot capabilities.
The ASTM International Standards Committee on Homeland Security Applications (E54) specifies
standard test methods and practices for evaluating individual robot capabilities. These standards
facilitate comparisons across robot models, or across various configurations of a particular robot
model. They support robot researchers, manufacturers, and user organizations in different ways.
Researchers use them to understand mission requirements, encourage innovation, and demonstrate
break-through capabilities. Manufacturers use them to evaluate design decisions, integrate emerging
technologies, and harden systems. User organizations leverage the resulting robot capabilities data to
guide purchasing, align deployment objectives, and focus training with standard measures of operator
proficiency. An associated usage guide describes how such standards can be implemented 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, safety, and terminology. This test method is part of the sensing test suite and
addresses the acuity of onboard cameras.
1. Scope
1.1 This test method covers the measurement of several key parameters of video systems for remote operations. It is initially
intended for applications of robots for Urban Search and Rescue but is sufficiently general to be used for marine or other remote
platforms. Those parameters are (1) field of view of the camera system, (2) visual acuity at far distances with both ambient lighting
and lighting on-board the robot, (3) visual acuity at near distances, again in both light and dark environments, and (4), if available,
visual acuity in both light and dark environments with zoom lens capability.
1.2 These tests measure only end-to-end capability, that is, they determine the resolution of the images on the display screen
at the operator control unit since that is the important issue for the user.
1.3 This test method is intended to be used for writing procurement specifications and for acceptance testing for robots for urban
search and rescue applications.
1.4 This test method will use the Snellen fraction to report visual acuity; readers may wish to convert to decimal notation to
improve intuitive understanding if they are more familiar with that notation. Distances will be given in metres with English units
in parentheses following.
1
This test method is under the jurisdiction of ASTM Committee E54 on Homeland Security Applications and is the direct responsibility of Subcommittee E54.08 on
Operational Equipment.
Current edition approved Feb. 1, 2008Jan. 1, 2017. Published March 2008February 2017. Originally approved in 2008. Last previous edition approved in 2008 as
E2566 – 08. DOI: 10.1520/E2566-08.10.1520/E2566-17.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2566 − 17
1.5 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility
of the user of this standard to establish appropriate safety and health practices and determine the applicability of regulatory
limitations prior to use.
2. Terminology
2.1 Definitions:
2.1.1 field of view, n—angle subtended by the largest objec
...
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