New Metrics for Industrial Depth Sensors Evaluation for Precise Robotic Applications

Precise perception is one of the key enablers of autonomous robotic operations. The right selection of sensors influences significantly the overall performance of the system. This paper provides a systematic approach for evaluation of various sensors available in the market. The main focus was to assess the performance in the use case of the short to medium distance operation, especially relevant for precise manipulation or quality control. The evaluation is based solely on the XYZ data (point clouds). We introduce six metrics to evaluate the sensors and propose a novel approach for low-cost fabrication of benchmark targets. The evaluation experiments were conducted on different materials to simulate various industrial environments. The evaluation provides a qualitative and quantitative comparison of different characteristics of various sensors and can be used for selection of appropriate device for specific conditions.     «

Precise perception is one of the key enablers of autonomous robotic operations. The right selection of sensors influences significantly the overall performance of the system. This paper provides a systematic approach for evaluation of various sensors available in the market. The main focus was to assess the performance in the use case of the short to medium distance operation, especially relevant for precise manipulation or quality control. The evaluation is based solely on the XYZ data (point c...     »