The National Research Council of Canada (NRC) is currently evaluating and designing artifacts and methods to
completely characterize 3-D imaging systems. We have gathered a set of artifacts to form a low-cost portable case and
provide a clearly-defined set of procedures for generating characteristic values using these artifacts. In its current
version, this case is specifically designed for the characterization of short-range (standoff distance of 1 centimeter to 3
meters) triangulation-based 3-D imaging systems. The case is known as the "NRC Portable Target Case for Short-Range
Triangulation-based 3-D Imaging Systems" (NRC-PTC). The artifacts in the case have been carefully chosen for their
geometric, thermal, and optical properties. A set of characterization procedures are provided with these artifacts based on
procedures either already in use or are based on knowledge acquired from various tests carried out by the NRC.
Geometric dimensioning and tolerancing (GD&T), a well-known terminology in the industrial field, was used to define
the set of tests. The following parameters of a system are characterized: dimensional properties, form properties,
orientation properties, localization properties, profile properties, repeatability, intermediate precision, and
reproducibility. A number of tests were performed in a special dimensional metrology laboratory to validate the
capability of the NRC-PTC. The NRC-PTC will soon be subjected to reproducibility testing using an intercomparison
evaluation to validate its use in different laboratories.
We present a series of dimensional metrology procedures for evaluating the geometrical performance of a 3D imaging
system that have either been designed or modified from existing procedures to ensure, where possible, statistical
traceability of each characteristic value from the certified reference surface to the certifying laboratory. Because there
are currently no internationally-accepted standards for characterizing 3D imaging systems, these procedures have been
designed to avoid using characteristic values provided by the vendors of 3D imaging systems. For this paper, we focus
only on characteristics related to geometric surface properties, dividing them into surface form precision and surface fit
trueness. These characteristics have been selected to be familiar to operators of 3D imaging systems that use
Geometrical Dimensioning and Tolerancing (GD&T). The procedures for generating characteristic values would form
the basis of either a volumetric or application-specific analysis of the characteristic profile of a 3D imaging system. We
use a hierarchical approach in which each procedure builds on either certified reference values or previously-generated
characteristic values. Starting from one of three classes of surface forms, we demonstrate how procedures for
quantifying for flatness, roundness, angularity, diameter error, angle error, sphere-spacing error, and unidirectional and
bidirectional plane-spacing error are built upon each other. We demonstrate how these procedures can be used as part of
a process for characterizing the geometrical performance of a 3D imaging system.
A protocol for determining structural resolution using a potentially-traceable reference material is proposed. Where possible,
terminology was selected to conform to those published in ISO JCGM 200:2008 (VIM) and ASTM E 2544-08
documents. The concepts of resolvability and edge width are introduced to more completely describe the ability of an
optical non-contact 3D imaging system to resolve small features. A distinction is made between 3D range cameras, that
obtain spatial data from the total field of view at once, and 3D range scanners, that accumulate spatial data for the total
field of view over time. The protocol is presented through the evaluation of a 3D laser line range scanner.
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