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6-DOF pose estimation: the need for standardization in industrial applications

To maintain competitiveness in the global economy, US manufacturers must innovate to enable intelligent manufacturing solutions that dramatically improve productivity and competitiveness. Advances in robots and automation utilizing high-fidelity sensors capable of characterizing dynamic and unconstrained environments represent one crucial area for development. Robots with the ability to perceive their surroundings can adapt to variable manufacturing conditions and even cooperate with human partners.
 2D video-based computer vision has been the standard for robot perception for over two decades. Recent advances in 6-Degree-Of-Freedom (DOF) metrology and 3D optical sensing methods have created the potential for high-accuracy, high-resolution, real-time sensing of dynamic environments. This capability will revolutionize automated manufacturing by enabling systems to perform flexible and complex tasks that previously required human perception and dexterity.
 The enabling 3D sensors and the perception software behind them are rapidly evolving. There are several fundamental sensing technologies and many software approaches to make practical use of the data. Unfortunately, standard evaluation methods have not kept pace with the development of this new sensing technology. The selection of a sensing system cannot therefore be made objectively using manufacturer provided specifications alone. This lack of standardization has slowed the acceptance of this potentially transformative technology. Measurement standards and performance metrics, specifically those that are relevant to industrial applications, are required to spur innovation and to hasten the adoption of these advanced technologies.