E57 - 3D Imaging Systems

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.  
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.  
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems. Some terms may have generally accepted definitions in a particular community or are defined in existing standards. If there are conflicting definitions, our preference is to adapt (modify) the ISO standard (if available) for this standard.  
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.  
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.
Note 1: The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.  
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.

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...

SIGNIFICANCE AND USE
5.1 Pose measurement systems are used in a wide range of fields including manufacturing, material handling, construction, medicine, and aerospace. The use of pose measurement systems could, for example, replace the need to fix the poses of objects of interest by mechanical means.  
5.2 Potential users have difficulty comparing pose measurement systems because of the lack of standard performance specifications and test methods, and must rely on the specifications of a vendor 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 candidate pose measurement systems, and allows the user to determine if the measured performance results are within the vendor’s claimed specifications with regard to the user’s application. This standard also facilitates the improvement of pose measurement systems by providing a common set of metrics to evaluate system performance.  
5.3 The intent of this test method is to allow a user to determine the performance of a vendor’s system under conditions specific to the user’s application, and to determine whether the system still performs in accordance with the vendor’s specifications under those conditions. The intention of this test method is not to validate a vendor’s claims; although, under specific situations, this test method may be adapted for this purpose.
SCOPE
1.1 Purpose—In this test method, metrics and procedures for collecting and analyzing data to determine the performance of a pose measurement system in computing the pose (position and orientation) of a rigid object are provided.  
1.2 This test method applies to the situation in which both the object and the pose measurement system are static with respect to each other when measurements are performed. Vendors may use this test method to establish the performance limits for their six degrees of freedom (6DOF) pose measurement systems. The vendor may use the procedures described in 9.2 to generate the test statistics, then apply an appropriate margin or scaling factor as desired to generate the performance specifications. This test method also provides a uniform way to report the relative or absolute pose measurement capability of the system, or both, making it possible to compare the performance of different systems.  
1.3 Test Location—The methodology defined in this test method shall be performed in a facility in which the environmental conditions are within the pose measurement system’s rated conditions and meet the user’s requirements.  
1.4 Units—The values stated in SI units are to be regarded as the 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.

ABSTRACT
This specification describes a data file exchange format for three-dimensional (3D) imaging data, known as the ASTM E57 3D file format, Version 1.0. In this specification, the term "E57 file" is used as a short version of "ASTM E57 3D file format". An E57 file is capable of storing 3D point data (those produced by 3D imaging systems), attributes associated with 3D point data (color and intensity), and 2D imagery (digital photographs obtained using a 3D imaging system). This specification describes all data that will be stored in the file, which is a combination of binary and eXtensible Markup Language (XML) formats.
SCOPE
1.1 This specification describes a data file exchange format for three-dimensional (3D) imaging data, known as the ASTM E57 3D file format, Version 1.0. The term “E57 file” will be used as shorthand for “ASTM E57 3D file format” hereafter.  
1.2 An E57 file is capable of storing 3D point data, such as that produced by a 3D imaging system, attributes associated with 3D point data, such as color or intensity, and 2D imagery, such as digital photographs obtained by a 3D imaging system. Furthermore, the standard defines an extension mechanism to address future aspects of 3D imaging.  
1.3 This specification describes all data that will be stored in the file. The file is a combination of binary and eXtensible Markup Language (XML) formats and is fully documented in this specification.  
1.4 All quantities standardized in this specification are expressed in terms of SI units. No other units of measurement are included in this standard.  
1.4.1 Discussion—Planar angles are specified in radians, which are considered a supplementary SI unit.  
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 standard does not purport to address legal concerns, if any, associated with its use. It is the responsibility of the user of this standard to comply with appropriate 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.

SIGNIFICANCE AND USE
4.1 This standard provides a test method for obtaining the point-to-point distance measurement errors for medium-range 3D imaging systems. The results from this test method may be used to evaluate or to verify the point-to-point distance 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 purpose of this document is to provide test procedures that are sensitive to instrument error sources. The point-to-point distance measurement performance of the IUT obtained by the application of this test method may be different from the point-to-point distance measurement performance of the IUT under some real-world conditions. For example, object geometry, texture, surface reflectance factor, and temperature, as well as particulate matter, thermal gradients, atmospheric pressure, humidity, ambient lighting in the environment, mechanical vibrations, and wind induced test setup instability will affect the point-to-point distance measurement performance (see Appendix X10 for a discussion on thermal effects). A derived-point such as the center of a suitable sphere or plate target that meets the requirements described in Section 7 provides a reliable point in space that is minimally impacted by target-related properties such as geometry, surface texture, color, and reflectivity. Additional tests not described in this standard may be required to assess the contribution of these influence factors on point-to-point distance measurements.  
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.  
4.4 For the purposes of understanding the behavior of the IUT and without warranty implications, this test may be modified as necessary to evaluate the point...
SCOPE
1.1 This test method covers the performance evaluation of laser-based, scanning, time-of-flight, single-detector 3D imaging systems in the medium-range and provides a basis for comparisons among such systems. This standard best applies to spherical coordinate 3D imaging systems that are capable of producing a point cloud representation of an object of interest. In particular, this standard establishes requirements and test procedures for evaluating the derived-point to derived-point distance measurement performance throughout the work volume of these systems. Although the tests described in this standard may be used for non-spherical coordinate 3D imaging systems, the test method may not necessarily be sensitive to the error sources within those instruments.  
1.2 System performance is evaluated by comparing measured distance errors between pairs of derived-points to the manufacturer-specified, maximum permissible errors (MPEs). In this standard, a derived-point is a point computed using multiple measured points on the target surface (such as the center of a sphere). In the remainder of this standard, the term point-to-point distance refers to the distance between two derived-points.  
1.3 The term “medium-range” refers to systems that are capable of operating within at least a portion of the ranges from 2 m 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 in accordance with Terminology E284.  
1.4 This test method may be used once to evaluate the Instrument Under Test (IUT) for a given set of conditions or it may be used multiple times to assess the performance of the IUT for various conditions (for example, surface reflectance factors, environmental conditions).  
1.5 SI units are used for all calculations and results in this standard.  
1.6 This test method is not intended to replace more in-depth m...

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.

SIGNIFICANCE AND USE
3.1 The overall purpose of standards is to document and communicate best practices in the successful and consistent application of 3D imaging technology. When executed effectively, this leads to an enhanced project performance. This practice offers a guideline for safe field operational procedures used in the application of 3D imaging technology.  
3.2 Applicability—As 3D imaging technology is applied across an ever increasing area of application, a set of uniform standards for their safe application is necessary. This best practice shall serve as a guideline to both operator and end user ensuring that necessary and reasonable precautions have been taken to ensure the safe application of 3D imaging technology.
SCOPE
1.1 This practice for the safe application of 3D imaging technology will focus primarily on the application of specific technology components common to 3D imaging systems. When appropriate, reference may be made to existing standards written for said technologies.  
1.2 Safety standards relevant to specific industry practices where the technology may be applied will not be developed given the very broad potential for application over many industries. However, general mention and recommendations will be made to industry specific safety guidelines relevant to some common applications.  
1.3 This practice covers the following topics:  
1.3.1 End-user/operator responsibilities,  
1.3.2 Safety plan,  
1.3.3 Safety awareness,  
1.3.4 Safe application of laser technology common to 3D imaging systems, and  
1.3.5 References to some applicable government regulations.  
1.4 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.  
1.5 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.

SIGNIFICANCE AND USE
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.  
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 of optical tracking systems.  
5.3 Potential users often have difficulty comparing optical tracking systems because of the lack of standard performance metrics and test methods, and therefore must rely on the claims of a vendor 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 candidate 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 procedures for measuring, analyzing, and reporting the relative pose error of optical tracking systems that compute the pose (that is, position and orientation) of a rigid object while the object is moving.  
1.2 Usage—System vendors may use this test method to determine the performance of their Six Degrees of Freedom (6 DOF) optical tracking system which measures pose. This test method also provides a uniform way to report the measurement errors and measurement capability of the system. System users may use this test method to verify that the system’s performance is within the user’s specific requirements and within the system’s rated performance.  
1.3 Test Location—The procedures defined in this standard shall be performed in a facility in which the environmental conditions are within the optical tracking system’s rated conditions.  
1.4 Test Volume—This standard shall be used for testing an optical tracking system working volumes of 3000 mm long by 2000 mm wide by 2000 mm high, 6000 mm long by 4000 mm wide by 2000 mm high, or 12 000 mm long by 8000 mm wide by 2000 mm high.  
1.5 Units—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 and health practices and determine the applicability of regulatory limitations prior to use.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.  
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.  
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems. Some terms may have generally accepted definitions in a particular community or are defined in existing standards. If there are conflicting definitions, our preference is to adapt (modify) the ISO standard (if available) for this standard.  
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.  
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.
Note 1: The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.  
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.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.  
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.  
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems. Some terms may have generally accepted definitions in a particular community or are defined in existing standards. If there are conflicting definitions, our preference is to adapt (modify) the ISO standard (if available) for this standard.  
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.  
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.
Note 1: The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.  
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.

ABSTRACT
This specification describes a data file exchange format for three-dimensional (3D) imaging data, known as the ASTM E57 3D file format, Version 1.0. In this specification, the term "E57 file" is used as a short version of "ASTM E57 3D file format". An E57 file is capable of storing 3D point data (those produced by 3D imaging systems), attributes associated with 3D point data (color and intensity), and 2D imagery (digital photographs obtained using a 3D imaging system). This specification describes all data that will be stored in the file, which is a combination of binary and eXtensible Markup Language (XML) formats.
SCOPE
1.1 This specification describes a data file exchange format for three-dimensional (3D) imaging data, known as the ASTM E57 3D file format, Version 1.0. The term “E57 file” will be used as shorthand for “ASTM E57 3D file format” hereafter.  
1.2 An E57 file is capable of storing 3D point data, such as that produced by a 3D imaging system, attributes associated with 3D point data, such as color or intensity, and 2D imagery, such as digital photographs obtained by a 3D imaging system. Furthermore, the standard defines an extension mechanism to address future aspects of 3D imaging.  
1.3 This specification describes all data that will be stored in the file. The file is a combination of binary and eXtensible Markup Language (XML) formats and is fully documented in this specification.  
1.4 All quantities standardized in this specification are expressed in terms of SI units. No other units of measurement are included in this standard.  
1.4.1 Discussion—Planar angles are specified in radians, which are considered a supplementary SI unit.  
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 standard does not purport to address legal concerns, if any, associated with its use. It is the responsibility of the user of this standard to comply with appropriate 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.

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...

SIGNIFICANCE AND USE
5.1 Pose measurement systems are used in a wide range of fields including manufacturing, material handling, construction, medicine, and aerospace. The use of pose measurement systems could, for example, replace the need to fix the poses of objects of interest by mechanical means.  
5.2 Potential users have difficulty comparing pose measurement systems because of the lack of standard performance specifications and test methods, and must rely on the specifications of a vendor 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 candidate pose measurement systems, and allows the user to determine if the measured performance results are within the vendor’s claimed specifications with regard to the user’s application. This standard also facilitates the improvement of pose measurement systems by providing a common set of metrics to evaluate system performance.  
5.3 The intent of this test method is to allow a user to determine the performance of a vendor’s system under conditions specific to the user’s application, and to determine whether the system still performs in accordance with the vendor’s specifications under those conditions. The intention of this test method is not to validate a vendor’s claims; although, under specific situations, this test method may be adapted for this purpose.
SCOPE
1.1 Purpose—In this test method, metrics and procedures for collecting and analyzing data to determine the performance of a pose measurement system in computing the pose (position and orientation) of a rigid object are provided.  
1.2 This test method applies to the situation in which both the object and the pose measurement system are static with respect to each other when measurements are performed. Vendors may use this test method to establish the performance limits for their six degrees of freedom (6DOF) pose measurement systems. The vendor may use the procedures described in 9.2 to generate the test statistics, then apply an appropriate margin or scaling factor as desired to generate the performance specifications. This test method also provides a uniform way to report the relative or absolute pose measurement capability of the system, or both, making it possible to compare the performance of different systems.  
1.3 Test Location—The methodology defined in this test method shall be performed in a facility in which the environmental conditions are within the pose measurement system’s rated conditions and meet the user’s requirements.  
1.4 Units—The values stated in SI units are to be regarded as the 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 and health practices and determine the applicability of regulatory limitations prior to use.

SIGNIFICANCE AND USE
5.1 Pose measurement systems are used in a wide range of fields including manufacturing, material handling, construction, medicine, and aerospace. The use of pose measurement systems could, for example, replace the need to fix the poses of objects of interest by mechanical means.
5.2 Potential users have difficulty comparing pose measurement systems because of the lack of standard performance specifications and test methods, and must rely on the specifications of a vendor 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 candidate pose measurement systems, and allows the user to determine if the measured performance results are within the vendor’s claimed specifications with regard to the user’s application. This standard also facilitates the improvement of pose measurement systems by providing a common set of metrics to evaluate system performance.
5.3 The intent of this test method is to allow a user to determine the performance of a vendor’s system under conditions specific to the user’s application, and to determine whether the system still performs in accordance with the vendor’s specifications under those conditions. The intention of this test method is not to validate a vendor’s claims; although, under specific situations, this test method may be adapted for this purpose.
SCOPE
1.1 Purpose—In this test method, metrics and procedures for collecting and analyzing data to determine the performance of a pose measurement system in computing the pose (position and orientation) of a rigid object are provided.
1.2 This test method applies to the situation in which both the object and the pose measurement system are static with respect to each other when measurements are performed. Vendors may use this test method to establish the performance limits for their six degrees of freedom (6DOF) pose measurement systems. The vendor may use the procedures described in Section 9.2 to generate the test statistics, then apply an appropriate margin or scaling factor as desired to generate the performance specifications. This test method also provides a uniform way to report the relative or absolute pose measurement capability of the system, or both, making it possible to compare the performance of different systems.
1.3 Test Location—The methodology defined in this test method shall be performed in a facility in which the environmental conditions are within the pose measurement system’s rated conditions and meet the user’s requirements.
1.4 Units—The values stated in SI units are to be regarded as the 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 and health practices and determine the applicability of regulatory limitations prior to use.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems. Some terms may have generally accepted definitions in a particular community or are defined in existing standards. If there are conflicting definitions, our preference is to adapt (modify) the ISO standard (if available) for this standard.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems. Some terms may have generally accepted definitions in a particular community or are defined in existing standards. If there are conflicting definitions, our preference is to adapt (modify) the ISO standard (if available) for this standard.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

ABSTRACT
This specification describes a data file exchange format for three-dimensional (3D) imaging data, known as the ASTM E57 3D file format, Version 1.0. In this specification, the term "E57 file" is used as a short version of "ASTM E57 3D file format". An E57 file is capable of storing 3D point data (those produced by 3D imaging systems), attributes associated with 3D point data (color and intensity), and 2D imagery (digital photographs obtained using a 3D imaging system). This specification describes all data that will be stored in the file, which is a combination of binary and eXtensible Markup Language (XML) formats.
SCOPE
1.1 This specification describes a data file exchange format for three-dimensional (3D) imaging data, known as the ASTM E57 3D file format, Version 1.0. The term “E57 file” will be used as shorthand for “ASTM E57 3D file format” hereafter.
1.2 An E57 file is capable of storing 3D point data, such as that produced by a 3D imaging system, attributes associated with 3D point data, such as color or intensity, and 2D imagery, such as digital photographs obtained by a 3D imaging system. Furthermore, the standard defines an extension mechanism to address future aspects of 3D imaging.
1.3 This specification describes all data that will be stored in the file. The file is a combination of binary and eXtensible Markup Language (XML) formats and is fully documented in this specification.
1.4 All quantities standardized in this specification are expressed in terms of SI units. No other units of measurement are included in this standard.
1.4.1 Discussion—Planar angles are specified in radians, which are considered a supplementary SI unit.
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.
1.6 This standard does not purport to address legal concerns, if any, associated with its use. It is the responsibility of the user of this standard to comply with appropriate regulatory limitations prior to use.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems. Some terms may have generally accepted definitions in a particular community or are defined in existing standards. If there are conflicting definitions, our preference is to adapt (modify) the ISO standard (if available) for this standard.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

SIGNIFICANCE AND USE
The overall purpose of standards is to document and communicate best practices in the successful and consistent application of 3D imaging technology. When executed effectively, this leads to an enhanced project performance. This practice offers a guideline for safe field operational procedures used in the application of 3D imaging technology.  
Applicability—As 3D imaging technology is applied across an ever increasing area of application, a set of uniform standards for their safe application is necessary. This best practice shall serve as a guideline to both operator and end user ensuring that necessary and reasonable precautions have been taken to ensure the safe application of 3D imaging technology.
SCOPE
1.1 This practice for the safe application of 3D imaging technology will focus primarily on the application of specific technology components common to 3D imaging systems. When appropriate, reference may be made to existing standards written for said technologies.  
1.2 Safety standards relevant to specific industry practices where the technology may be applied will not be developed given the very broad potential for application over many industries. However, general mention and recommendations will be made to industry specific safety guidelines relevant to some common applications.  
1.3 This practice covers the following topics:
1.3.1 End-user/operator responsibilities,
1.3.2 Safety plan,  
1.3.3 Safety awareness,  
1.3.4 Safe application of laser technology common to 3D imaging systems, and
1.3.5 References to some applicable government regulations.
1.4 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.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3D) imaging systems in an effort to standardize terminology used for 3D imaging systems.  
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3D imaging systems.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3-D) imaging systems in an effort to standardize terminology used for 3-D imaging systems.
1.2 The definitions of the terms presented in are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3-D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3-D imaging systems.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.Note 1
The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.

SCOPE
1.1 This terminology contains common terms, definitions of terms, descriptions of terms, nomenclature, and acronyms associated with three-dimensional (3-D) imaging systems in an effort to standardize terminology used for 3-D imaging systems.
1.2 The definitions of the terms presented in 3.1 are obtained from various standard documents developed by various standards development organizations. The intent is not to change these universally accepted definitions but to gather, in a single document, terms and their definitions that may be used in current or future standards for 3-D imaging systems.
1.2.1 In some cases, definitions of the same term from two standards have been presented to provide additional reference. The text in parentheses to the right of each defined term is the name (and, in some cases, the specific section) of the source of the definition associated with that term.
1.3 The definitions in 3.2 are specific terms developed by this committee for 3-D imaging systems.
1.4 A definition in this terminology is a statement of the meaning of a word or word group expressed in a single sentence with additional information included in notes or discussions.
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.
Note 1—The subcommittee responsible for this standard will review definitions on a five-year basis to determine if the definition is still appropriate as stated. Revisions will be made when determined necessary.