ASTM E2938-15
(Test Method)Standard Test Method for Evaluating the Relative-Range Measurement Performance of 3D Imaging Systems in the Medium Range
Standard Test Method for Evaluating the Relative-Range Measurement Performance of 3D Imaging Systems in the Medium Range
SIGNIFICANCE AND USE
4.1 This standard provides a test method for obtaining the range error for medium-range 3D imaging systems. The results from this test method may be used to evaluate or to verify the range measurement performance of medium-range 3D imaging systems. The results from this test method may also be used to compare performance among different instruments.
4.2 The range performance of the IUT obtained by the application of this test method may be different from the range performance of the IUT under some real-world conditions. For example, object geometry, texture, temperature and reflectance as well as vibrations, particulate matter, thermal gradients, ambient lighting, and wind in the environment will affect the range performance.
4.3 The test may be carried out for instrument acceptance, warranty or contractual purposes by mutual agreement between the manufacturer and the user. The IUT is tested in accordance with manufacturer-supplied specifications, rated conditions, and technical documentation. This test may be repeated for any target 2 range within the manufacturer’s specifications and for any rated conditions.
4.4 For the purposes of understanding the behavior of the IUT and without warranty implications, this test may be modified as necessary to characterize the range measurement performance of the IUT outside the manufacturer’s rated conditions, but within the manufacturer’s limiting conditions.
4.5 The manufacturer may provide different values for the specifications for different sets of rated conditions, for example, better range measurement performance might be specified under a set of more restrictively rated environmental conditions. The user is advised that the IUT’s performance may differ significantly in other modes of operation or outside the rated conditions and should inquire with the manufacturer for specifications of the mode that best represents the planned usage. If a target other than that described in Section 7, or if procedures other...
SCOPE
1.1 This standard describes a quantitative test method for evaluating the range measurement performance of laser-based, scanning, time-of-flight, 3D imaging systems in the medium range. The term “medium range” refers to systems that are capable of operating within at least a portion of ranges from 2 to 150 m. The term “time-of-flight systems” includes phase-based, pulsed, and chirped systems. The word “standard” in this document refers to a documentary standard as per Terminology E284. This test method only applies to 3D imaging systems that are capable of producing a point cloud representation of a measured target.
1.1.1 As defined in Terminology E2544, a range is the distance measured from the origin of a 3D imaging system to a point in space. This range is often referred to as an absolute range. However, since the origin of many 3D imaging systems is either unknown or not readily measurable, a test method for absolute range performance is not feasible for these systems. Therefore, in this test method, the range is taken to be the distance between two points in space on a line that passes through the origin of the 3D imaging system. Although the error in the calculated distance between these two points is a relative-range error, in this test method when the term range error is used it refers to the relative-range error. This test method cannot be used to quantify the constant offset error component of the range error.
1.1.2 This test method recommends that the first point be at the manufacturer-specified target 1 range and requires that the second target be on the same side of the instrument under test (IUT) as the first target. Specification of target 1 range by the manufacturer minimizes the contribution to the relative range measurement error from the target 1 range measurement.
1.1.3 This test method may be used once to evaluate the IUT for a given set of conditions or it may be used multiple times to bett...
General Information
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Standards Content (Sample)
This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the
Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.
Designation: E2938 − 15
Standard Test Method for
Evaluating the Relative-Range Measurement Performance of
1
3D Imaging Systems in the Medium Range
This standard is issued under the fixed designation E2938; 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.
1. Scope 1.2 The values stated in SI units are to be regarded as
standard. No other units of measurement are included in this
1.1 This standard describes a quantitative test method for
standard. SI units are used for all calculations and results in this
evaluating the range measurement performance of laser-based,
standard.
scanning, time-of-flight, 3D imaging systems in the medium
range. The term “medium range” refers to systems that are 1.3 The method described in this standard is not intended to
capable of operating within at least a portion of ranges from 2 replace more in-depth methods used for instrument calibration
to 150 m. The term “time-of-flight systems” includes phase- or compensation, and specific measurement applications may
based, pulsed, and chirped systems. The word “standard” in require other tests and analyses.
this document refers to a documentary standard as per Termi-
1.4 This standard does not purport to address all of the
nology E284. This test method only applies to 3D imaging
safety concerns, if any, associated with its use. It is the
systems that are capable of producing a point cloud represen-
responsibility of the user of this standard to establish appro-
tation of a measured target.
priate safety, health, and environmental practices and deter-
1.1.1 As defined in Terminology E2544,a range is the
mine the applicability of regulatory limitations prior to use.
distance measured from the origin of a 3D imaging system to
Some aspects of the safe use of 3D Imaging Systems are
a point in space. This range is often referred to as an absolute
discussed in Practice ASTM E2641.
range. However, since the origin of many 3D imaging systems
1.5 This international standard was developed in accor-
is either unknown or not readily measurable, a test method for
dance with internationally recognized principles on standard-
absolute range performance is not feasible for these systems.
ization established in the Decision on Principles for the
Therefore, in this test method, the range is taken to be the
Development of International Standards, Guides and Recom-
distance between two points in space on a line that passes
mendations issued by the World Trade Organization Technical
through the origin of the 3D imaging system. Although the
Barriers to Trade (TBT) Committee.
error in the calculated distance between these two points is a
relative-range error, in this test method when the term range 2. Referenced Documents
error is used it refers to the relative-range error. This test 2
2.1 ASTM Standards:
method cannot be used to quantify the constant offset error
E284 Terminology of Appearance
component of the range error.
E1164 Practice for Obtaining Spectrometric Data for Object-
1.1.2 This test method recommends that the first point be at
Color Evaluation
the manufacturer-specified target 1 range and requires that the
E1331 Test Method for Reflectance Factor and Color by
second target be on the same side of the instrument under test
Spectrophotometry Using Hemispherical Geometry
(IUT) as the first target. Specification of target 1 range by the
E2544 Terminology for Three-Dimensional (3D) Imaging
manufacturer minimizes the contribution to the relative range
Systems
measurement error from the target 1 range measurement.
E2641 Practice for Best Practices for Safe Application of 3D
1.1.3 This test method may be used once to evaluate the IUT
Imaging Technology
for a given set of conditions or it may be used multiple times 3
2.2 ASME Standards:
to better assess the performance of the IUT for various
ASME B89.1.9-2002 Gage Blocks
conditions (for example, additional ranges, various
reflectances, environmental conditions).
2
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
1
This test method is under the jurisdiction of ASTM Committee E57 on 3D Standards volume information, refer to the standard’s Document Summary page on
Imaging Systems and is the direct responsibility of Subcommittee E57.20 on the ASTM website.
3
Terrestrial Stationary Systems. Available from American Society of Mechanical Engineers (ASME), ASME
C
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