6533b832fe1ef96bd129aa37
RESEARCH PRODUCT
Performance Measurements of Motion Capture Systems used for AGV and Robot Arm Evaluation
Roger Bostelman Joe Falco Tsai Hongsubject
[ INFO ] Computer Science [cs][INFO] Computer Science [cs]description
International audience; Multi-camera motion capture systems are commercially available and are typically used in the entertainment industry to track human motions for video gaming and movies. These systems are proving useful as ground truth measurement systems to assess the performance of robots and autonomous ground vehicles. However, to be used as a ground truth system, their calibration is critical in order to achieve the accuracies required to measure the systems under test.This paper describes a test method to validate the capabilities of two motion capture systems. The first is being used as ground truth for an automatic guided vehicle (AGV) with an onboard robot arm (mobile manipulator) being used to develop performance measures for AGVs and mobile manipulation.The second is used as ground truth for a tabletop robotic work cell being used to develop performance measures for perception, grasping, and assembly.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2016-05-01 |