Low-cost 3D depth and range sensors are steadily becoming more widely available and affordable, and thus popular for
robotics enthusiasts. As basic research tools, however, their accuracy and performance are relatively unknown. In this
paper, we describe a framework for performance evaluation and measurement error analysis for 6 degrees of freedom
pose estimation systems using traceable ground truth instruments. Characterizing sensor drift and variance, and
quantifying range, spatial and angular accuracy, our framework focuses on artifact surface fitting and static pose analysis,
reporting testing and environmental conditions in compliance with the upcoming ASTM E57.02 standard.