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ASTM E3124-17

(Test Method)

Standard Test Method for Measuring System Latency Performance of Optical Tracking Systems that Measure Six Degrees of Freedom (6DOF) Pose

Standard Test Method for Measuring System Latency Performance of Optical Tracking Systems that Measure Six Degrees of Freedom (6DOF) Pose

SIGNIFICANCE AND USE
5.1 Optical tracking systems are used in a wide range of fields including: video games, film, neuroscience, biomechanics, flight/medical/industrial training, simulation, robotics, and automotive applications.  
5.2 This standard provides a common set of metrics and a test procedure for evaluating the performance of optical tracking systems and may help to drive improvements and innovations in optical tracking systems.4  
5.3 Potential users often have difficulty comparing optical tracking systems due to the lack of standard performance metrics and test methods, and must therefore rely on the vendor claims regarding the system’s performance, capabilities, and suitability for a particular application. This standard makes it possible for a user to assess and compare the performance of optical tracking systems, and allows the user to determine if the measured performance results are within the specifications with regard to the application requirements.
SCOPE
1.1 Purpose—This test method presents metrics and a procedure for measuring, analyzing, and reporting the system latency of an optical tracking system (OTS) that computes the pose of a rigid object.  
1.2 Usage—System vendors may use this test method to determine or validate the system latency in their tracking systems. This test method provides a uniform way to measure and report the system latency along with the uncertainty in the system latency. System users may use this test method to verify that the system latency performance is within the user’s specific requirements and within the system’s rated performance.  
1.3 This standard does not measure the display latency of graphical representations of the tracked objects. Display latency is external to the optical tracking system.  
1.4 Test Location—The procedures defined in this test method shall be performed in an environment conforming to the manufacturer’s rated conditions.  
1.5 The values stated in SI units are to be regarded as standard. No other units of measurement are included in this standard.  
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 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.

General Information

Status
Published
Publication Date
30-Sep-2017
ICS
17.180.30 - Optical measuring instruments
Technical Committee
E57 - 3D Imaging Systems
Drafting Committee
E57.50 - Optical Tracking Systems
Current Stage
Ref Project

Relations

Refers
ASTM E2655-14(2020) - Standard Guide for Reporting Uncertainty of Test Results and Use of the Term Measurement Uncertainty in ASTM Test Methods
Effective Date
01-Jan-2020

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ASTM E3124-17 - Standard Test Method for Measuring System Latency Performance of Optical Tracking Systems that Measure Six Degrees of Freedom (6DOF) PoseASTM E3124-17 - Standard Test Method for Measuring System Latency Performance of Optical Tracking Systems that Measure Six Degrees of Freedom (6DOF) Pose
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ASTM E3124-17 - Standard Test Method for Measuring System Latency Performance of Optical Tracking Systems that Measure Six Degrees of Freedom (6DOF) Pose
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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: E3124 − 17
Standard Test Method for
Measuring System Latency Performance of Optical Tracking
Systems that Measure Six Degrees of Freedom (6DOF)
1
Pose
This standard is issued under the fixed designation E3124; 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 2. Referenced Documents
2
1.1 Purpose—This test method presents metrics and a pro- 2.1 ASTM Standards:
cedure for measuring, analyzing, and reporting the system E177 Practice for Use of the Terms Precision and Bias in
latency of an optical tracking system (OTS) that computes the ASTM Test Methods
pose of a rigid object. E2655 Guide for Reporting Uncertainty of Test Results and
Use of the Term Measurement Uncertainty inASTM Test
1.2 Usage—System vendors may use this test method to
Methods
determine or validate the system latency in their tracking
E2919 Test Method for Evaluating the Performance of
systems. This test method provides a uniform way to measure
Systems that Measure Static, Six Degrees of Freedom
and report the system latency along with the uncertainty in the
(6DOF), Pose
systemlatency.Systemusersmayusethistestmethodtoverify
E3064 Test Method for Evaluating the Performance of
that the system latency performance is within the user’s
Optical Tracking Systems that Measure Six Degrees of
specific requirements and within the system’s rated perfor-
Freedom (6DOF) Pose
mance.
3
2.2 ASME Standard:
1.3 This standard does not measure the display latency of
ASME B89.4.19 Performance Evaluation of Laser-Based
graphical representations of the tracked objects. Display la-
Spherical Coordinate Measurement Systems
tency is external to the optical tracking system.
3. Terminology
1.4 Test Location—The procedures defined in this test
method shall be performed in an environment conforming to
3.1 Definitions:
the manufacturer’s rated conditions.
3.1.1 degrees of freedom, DOF, n—any of the minimum
number of translation or rotation components required to
1.5 The values stated in SI units are to be regarded as
specify completely the pose of a rigid object. E2919
standard. No other units of measurement are included in this
standard.
3.1.1.1 Discussion—
1.6 This standard does not purport to address all of the (1) In a 3D space, a rigid object’s pose can be minimally
safety concerns, if any, associated with its use. It is the represented by 6DOF, three translations and three rotations.
responsibility of the user of this standard to establish appro- (2) The term “degrees of freedom” is also used with regard
priate safety, health, and environmental practices and deter- to statistical testing. It will be clear from the context in which
mine the applicability of regulatory limitations prior to use.
it is used whether the term relates to a statistical test or the
1.7 This international standard was developed in accor- rotation/translation aspect of the object.
dance with internationally recognized principles on standard- 3.1.2 frame rate, n—frequency at which a camera acquires
ization established in the Decision on Principles for the consecutive images.
Development of International Standards, Guides and Recom-
3.1.3 integration time, n—the length of time when the
mendations issued by the World Trade Organization Technical
digital sensor inside a camera collects light.
Barriers to Trade (TBT) Committee.
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
ImagingSystemsandisthedirectresponsibilityofSubcommitteeE57.50onOptical the ASTM website.
3
Tracking Systems. Available from American Society of Mechanical Engineers (ASME), ASME
Current edition approved Oct. 1, 2017. Published December 2017. DOI: International Headquarters, Two Park Ave., New York, NY 10016-5990, http://
10.1520/E3124-17. www.asme.org.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1

---------------------- Page: 1 ----------------------
E3124 − 17
3.1.3.1 Discussion—In some systems integration time is quisition times. As indicated in Section 9, vendors should
also called exposure time. report the operating parameters of the system including
system-wide integration periods and camera frame rates.
3.1.4 optical im
...

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5.1 Optical tracking systems are used in a wide range of fields including: video gaming, filming, neuroscience, biomechanics, flight/medical/industrial training, simulation, robotics, and automotive applications.  
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4.1 This practice is commonly used by vehicle service personnel to determine the freezing point, in degrees Celsius or Fahrenheit, of aqueous solutions of commercial ethylene and propylene glycol-based coolant. A durable hand-held refractometer is available that reads the freezing point, directly, in degrees Celsius or Fahrenheit, when a few drops of engine coolant are properly placed on the temperature-compensated prism surface of the refractometer. This refractometer is for glycol and water solutions, and is not suitable for other coolant solutions.  
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5.1 Stray radiant power can be a significant source of error in spectrophotometric measurements. SRP usually increases with the passage of time; therefore, testing should be performed periodically. Moreover, the SRPR test is an excellent indicator of the overall condition of a spectrophotometer. A control-chart record of the results of routinely performed SRPR tests can be a useful indicator of need for corrective action or, at least, of the changing reliability of critical measurements.  
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Note 1: Research (3) has shown that particular care must be exercised in testing grating spectrophotometers that use moderately narrow bandpass SRP-blocking filters. Accurate calibration of the wavelength scale is critical when testing such instruments. Refer to Practice E275.  
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4.1 This practice permits an analyst to compare the performance of an instrument to the manufacturer's supplied performance specifications and to verify its suitability for continued routine use. It also provides generation of calibration monitoring data on a periodic basis, forming a base from which any changes in the performance of the instrument will be evident.
SCOPE
1.1 This practice covers the parameters of spectrophotometric performance that are critical for testing the adequacy of instrumentation for most routine tests and methods2 within the wavelength range of 200 nm to 700 nm and the absorbance range of 0 to 2. The recommended tests provide a measurement of the important parameters controlling results in spectrophotometric methods, but it is specifically not to be inferred that all factors in instrument performance are measured.  
1.2 This practice may be used as a significant test of the performance of instruments for which the spectral bandwidth does not exceed 2 nm and for which the manufacturer's specifications for wavelength and absorbance accuracy do not exceed the performance tolerances employed here. This practice employs an illustrative tolerance of ±1 % relative for the error of the absorbance scale over the range of 0.2 to 2.0, and of ±1.0 nm for the error of the wavelength scale. A suggested maximum stray radiant power ratio of 4 × 10-4 yields E275 to extensively evaluate the performance of an instrument.  
1.3 This practice should be performed on a periodic basis, the frequency of which depends on the physical environment within which the instrumentation is used. Thus, units handled roughly or used under adverse conditions (exposed to dust, chemical vapors, vibrations, or combinations thereof) should be tested more frequently than those not exposed to such conditions. This practice should also be performed after any significant repairs are made on a unit, such as those involving the optics, detector, or radiant energy source.  
1.4 The values stated in SI units are to be regarded as standard. No other units of measurement are included in this standard.  
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, health, and environmental practices and determine the applicability of regulatory limitations prior to use.  
1.6 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.

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