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ASTM E2566-08

(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
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.”  
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.
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.  
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.
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.

General Information

Status
Historical
Publication Date
31-Jan-2008
ICS
13.200 - Accident and disaster control
Technical Committee
E54 - Homeland Security Applications
Current Stage
Ref Project

Relations

Replaced By
ASTM E2566-17 - 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
Effective Date
01-Jan-2017
Referred By
ASTM E2853/E2853M-22 - Standard Test Method for Evaluating Ground Response Robot Capabilities: Search Tasks
Effective Date
01-Feb-2008
Referred By
ASTM E2854/E2854M-21 - Standard Test Method for Evaluating Response Robot Radio Communications Line-of-Sight Range
Effective Date
01-Feb-2008

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ASTM E2566-08 - 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 ApplicationsASTM E2566-08 - 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
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ASTM E2566-08 - 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
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NOTICE: This standard has either been superseded and replaced by a new version or withdrawn.
Contact ASTM International (www.astm.org) for the latest information
Designation: E2566 − 08
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.
1. Scope 2.1.2 optotype, n—character used on a chart for testing
visual acuity.
1.1 Thistestmethodcoversthemeasurementofseveralkey
2.1.2.1 Discussion—Optotypes are generally built ona5by
parameters of video systems for remote operations. It is
5 grid, with the size for “standard” vision subtending a square
initially intended for applications of robots for Urban Search
5 min of arc on a side. This makes one grid element 1 min of
and Rescue but is sufficiently general to be used for marine or
other remote platforms. Those parameters are (1) field of view arc square.
of the camera system, (2) visual acuity at far distances with
2.1.3 tumbling E, n—specific optotype that can be drawn in
both ambient lighting and lighting on-board the robot, (3)
various orientations (facing left, right, up, or down) and in
visual acuity at near distances, again in both light and dark
various sizes to create an eye chart (see Fig. 1).
environments, and (4), if available, visual acuity in both light
2.1.3.1 Discussion—This optoptype is reported in the litera-
and dark environments with zoom lens capability.
ture as being maximally distinguishable. Eye charts with
1.2 These tests measure only end-to-end capability, that is,
Tumbling Es are available commercially for use at different
they determine the resolution of the images on the display
distances.
screen at the operator control unit since that is the important
2.1.4 standard vision, n—ability to resolve target features
issue for the user.
subtending 1 min of arc.
1.3 This test method is intended to be used for writing
2.1.5 visual acuity, n—ability to resolve features subtending
procurement specifications and for acceptance testing for
some angle, as compared with “standard” vision measured at
robots for urban search and rescue applications.
the same distance.
1.4 This test method will use the Snellen fraction to report
2.1.5.1 Discussion—AnangleΘsubtendsafeatureofsizeh
visual acuity; readers may wish to convert to decimal notation
at a distance d, of size 2h at a distance of 2d, of size 3h at a
to improve intuitive understanding if they are more familiar
distance 3d, and so on. If 2d is the “standard” measurement
with that notation. Distances will be given in metres with
distanceof6m(20ft),aneyechartforuseat3m(10ft)would
English units in parentheses following.
have characters of h high rather than 2h high and the
1.5 This standard does not purport to address all of the
measurementofvisualacuitywouldbethesame.SeeFig.2for
safety concerns, if any, associated with its use. It is the
an illustration of the angle/distance relationship.
responsibility of the user of this standard to establish appro-
priate safety and health practices and determine the applica- 2.1.6 Snellen fraction, n—a measure of visual acuity.
bility of regulatory limitations prior to use.
2.1.6.1 Discussion—The subject is placed a standard dis-
tance from an eye chart, typically 6 m (20 ft). The subject is
2. Terminology
asked to identify the line with the smallest characters that he
can resolve. The Snellen fraction is the ratio of the distance at
2.1 Definitions:
which that line would be resolved by a subject with standard
2.1.1 field of view, n—angle subtended by the largest object
vision to the standard test distance. Thus, a subject with
that can be imaged with the video system.
standard vision would have 6/6 (20/20) vision.
2.1.7 remote operation, n—act of controlling a distant robot
1
This test method is under the jurisdiction of ASTM Committee E54 on
on a continuous or intermittent basis via tethered or radio-
Homeland Security Applications and is the direct responsibility of Subcommittee
linked devices while being provided with sensory information
E54.08 on Operational Equipment.
(for example, visual information through cameras onboard the
Current edition approved Feb. 1, 2008. Published March 2008. DOI: 10.1520/
E2566-08. robot).
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1

---------------------- Page: 1 ----------------------
E2566 − 08
FIG. 1 Tumbling E Optotype in Various Orientations
FIG. 2 Angle Subtended by Various Size Objects at Various Distances
2.1.7.1 Discussion—Remote operation includes teleopera- recommended, with one prov
...

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SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. This symmetric stepfield terrain specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest outdoor terrain complexity or indoor debris within confined areas.  
5.2 The overall size of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains.  
5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.  
5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. It can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.  
5.5 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.  
5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting measures of remote opera...
SCOPE
1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to traverse complex terrains in the form of symmetric stepfields. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.  
1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.  
1.3 Different user communities can set their own thresholds of acceptable performance within this test method for various mission requirements.  
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.  
1.5 Units—The International System of Units (SI Units) and U.S. Customary Units (Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable use of readily available materials in different countries. This avoids excessive purchasing and fabrication costs. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.  
1.6 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, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.7 This international standard was developed in ...

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ASTM
ASTM E2827/E2827M-20(Test Method)
Standard Test Method for Evaluating Response Robot Mobility Using Crossing Pitch/Roll Ramp Terrains

SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. This crossing (discontinuous) pitch/roll ramp terrain specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest outdoor terrain complexity or indoor debris within confined areas.  
5.2 The overall size of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains.  
5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.  
5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. It can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.  
5.5 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.  
5.6 Training—This test method can be used to focus operator training as a repeatable practice task or as an embedded task within training scenarios. The resulting mea...
SCOPE
1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to traverse complex terrains in the form of crossing (discontinuous) pitch/roll ramps. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.  
1.2 The robotic system includes a remote operator in control of all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.  
1.3 Different user communities can set their own thresholds of acceptable performance within this test method for various mission requirements.  
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.  
1.5 Units—The International System of Units (SI Units) and U.S. Customary Units (Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable use of readily available materials in different countries. This avoids excessive purchasing and fabrication costs. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.  
1.6 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, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.7 This international stand...

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