Forum Discussion
Establishing ground truth / validating sensor fusion
Hey folks, I want to start experimenting with mobile device sensors and sensor fusion to estimate pose. This raises the question of how to do validation. Years ago, I tried just double-integrating ...
"brantlew" wrote:
I'd be willing to wager that for the price, the DK2 camera tracker is the most precise ready-made 3D pose tracker that you can get. I would tape the phone right onto a DK2 and gather ground truth like that.
The problem with this is that I don't have any data on the accuracy of the tracker. Even if it's the best tracker, the whole point is that I want to quantify the error.
Maybe I can get a surplus rail & slide from a machine tool to get good data on one linear axis. Alternately, I could build a lego rail & gear system and use that with a metal straight-edge. At first I was thinking that I'd need components that had been ground flat, but if I'm manually cranking the slide and reading the position off a ruler or measuring it with calipers, then I can probably get < 0.5 mm with a cheapo setup. It doesn't have to be flat, because I only care about motion along one axis.
EDIT> Huh, actually I'm coming around to this idea. Thanks for the suggestion. If anything, I can clamp the DK2 to my cheapo rail and figure out whether it has the accuracy I want. Move the DK2 0.5 mm and see what it reports...