ASTM E2566/E2566M : 24

1.1 The purpose of this test method is to specify the apparatuses, procedures, and performance metrics necessary to quantitatively measure a robot’s visual acuity as displayed to a remote operator or vision algorithm. The primary performance metric for this test method shall be a robot’s possession of such a capability with a specified statistical significance.

1.2 Secondary performance metrics are the robot’s field of view, resolution, and aspect ratio.

1.3 This test method can also be used to measure the operator proficiency in selecting and controlling camera systems for different operational requirements. The corresponding performance metric may be the number of completed task repetitions per minute over an assigned time period ranging from 10 min to 30 min.

1.4 This test method is a part of the sensing suite of response robot test methods, but this test method is stand-alone and complete. This test method applies to systems operated remotely from a standoff distance appropriate for the intended mission. The system includes a remote operator in control of all functionality and any assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system.

1.5 The apparatus, specified in Section 6, can only test a limited range of a robot’s capabilities. When the robot has been tested through the limit or limits of the apparatus, a note shall be associated with the results indicating that the robot’s actual capability may be outside of the limit or limits imposed by the test apparatus. For example, the camera’s perception capabilities could exceed the resolution of the printing process used to create the charts used in the apparatus.

1.6 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.

1.7 This test method may be embedded in other tests and operational scenarios, to provide an indication of how well the robot can maintain its tested visual acuity under different test and operational situations. For example, it may be embedded in tests that require the robot to move or to operate at the limit of its radio range, to provide an indication of how vibration or signal strength might affect visual acuity.

1.8 This test method may also be embedded in other tests and operational scenarios as a requirement that the robot must achieve, to simulate an operational task in an application agnostic manner. For example, a scenario might require the robot to reach a particular object of interest. The visual acuity test may be embedded in the object of interest, and the robot required to perform the embedded test. In such a situation, the required performance in the embedded test may be expressed as an operational requirement, such as achieving a specific level of visual acuity, or as a relative requirement, such as achieving 80 % of the performance that the robot achieved on the standard visual acuity test.

1.9 Units—The values stated in either SI units or inch-pound units are to be regarded separately as standard. The values stated in each system may not be exact equivalents; therefore, each system shall be used independently of the other. Combining values from the two systems may result in nonconformance with the standard. Both units are referenced to facilitate acquisition of materials internationally and minimize fabrication costs.

1.10 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.

1.11 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.