E57.20 - Terrestrial Stationary Systems

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
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
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
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...