3D Sensor Performance Evaluation Using Multi-Target Testing Apparatus
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Solution Overview
Problem
3D sensor performance evaluation and validation are hindered by calibration errors and alignment issues, leading to inaccuracies in depth measurement and object detection, particularly in applications like industrial automation and autonomous robots.
Innovation Solution
A compact testing apparatus with multiple targets at varying distances is used to evaluate 3D sensor performance across its field of view, employing depth metrics such as accuracy, fill ratio, and planar angle deviations, allowing for simultaneous testing of depth accuracy at multiple distances and supporting firmware updates and regression testing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If calibration parameters are adjusted to improve depth measurement accuracy, then measurement precision improves, but device complexity increases due to multiple calibration parameters
Solution Approach 1:
The patent transforms complex calibration parameter adjustments into simple physical displacements of the testing apparatus. By moving the apparatus along a linear path, the system automatically varies the distance to multiple targets at different depths, enabling calibration validation without manually adjusting complex camera parameters.
Solution Approach 2:
The patent uses multiple physical target copies positioned at different distances to represent various depth scenarios. Instead of simulating different calibration states through parameter changes, the system physically replicates multiple target instances at known positions, allowing direct measurement and comparison.
2Productivity
If multiple targets at different distances are tested simultaneously, then productivity improves, but device complexity increases due to apparatus configuration
Solution Approach 1:
The testing apparatus is segmented into multiple independent target elements positioned at different distances. Each target can be independently evaluated, allowing parallel testing of multiple depth ranges within a single apparatus configuration, thereby improving productivity without requiring complex coordinated movements.
Solution Approach 2:
The testing apparatus is designed as a universal fixture that can evaluate multiple targets at various distances simultaneously. The same apparatus structure serves multiple testing functions by simply repositioning or reconfiguring the target array, avoiding the need for specialized equipment for each depth range.
3Measurement precision
If depth metrics are evaluated at multiple distances, then measurement precision improves, but loss of time increases due to sequential testing requirements
Solution Approach 1:
The system maintains continuous useful action by capturing depth information from all targets in a single sensor frame or synchronized set of frames. The testing apparatus positions all targets within the sensor's field of view simultaneously, allowing uninterrupted depth metric evaluation across multiple distances without sequential repositioning.
Solution Approach 2:
The testing apparatus is pre-configured with multiple targets at known distances before testing begins. This preliminary arrangement of targets at predetermined positions allows the sensor to immediately capture and evaluate depth information for all distances simultaneously, eliminating the time required for sequential target positioning during the actual measurement process.
Data Source
AI summary
Systems and methods for evaluating the performance of three-dimensional (3D) sensors can include, for example, obtaining, via a 3D sensor in a testing apparatus, range information of a scene within a field-of-view (FOV) of the 3D sensor. The scene includes a plurality of targets disposed within the testing apparatus. Each of the plurality of targets is located at a different distance from the 3D sensor in the testing apparatus. A validation of the performance of the 3D sensor at the different distances is performed at a same point in time, based on the range information. An indication of a result of the validation is provided.