Measurement science for 6DOF object pose ground truth

Users of perception systems in industrial manufacturing applications need standardized, third party ground truth procedures to validate system performance before deployment. Many manufacturing robotic applications require parts and assemblies to be perceived, inspected or grasped. These applications need accurate perception of object pose to six degrees of freedom (6DOF) in X, Y, Z position with roll, pitch and yaw. A standardized 6DOF ground truth system should include test procedures, algorithms, artifacts, fixtures, and measurement equipment. Each of them must be openly documented so manufacturers, vendors, and researchers can recreate and apply the procedures. This article reports on efforts to develop an industrial standard for 6DOF pose measurement. It includes the design of test methods using a laser-tracker, an aluminum fixture pose fixture, and a modular, medium density fiberboard (MDF) pose fixture.