1.1 本标准描述了一种定量测试方法，用于评估基于激光的、扫描的、飞行时间的测距性能， 3D成像系统 在中等范围内。术语“中程”是指能够在2至150米的至少一部分范围内运行的系统。术语“飞行时间系统”包括基于相位的、脉冲的和啁啾的系统。本文件中的“标准”一词是指 文件标准 根据术语 E284 该测试方法仅适用于能够产生 点云 测量目标的表示。 1.1.1 如术语中所定义 E2544 一 范围 是从3D成像系统的原点到空间中的点所测量的距离。这个范围通常被称为绝对范围。然而，由于许多3D成像系统的起源是未知的或不容易测量的，因此绝对距离性能的测试方法对于这些系统是不可行的。因此，在该测试方法中，该范围被取为穿过3D成像系统的原点的线上的空间中的两点之间的距离。 尽管计算出的这两个点之间的距离的误差是 相对距离误差 ，在本测试方法中，当使用范围误差一词时，它指的是相对范围误差。该测试方法不能用于量化范围误差的恒定偏移误差分量。 1.1.2 本试验方法建议第一点位于制造商规定的位置 目标1范围 并且要求第二目标与第一目标在被测仪器（IUT）的同一侧。的规格 目标1范围 由制造商将对目标1距离测量的相对距离测量误差的贡献最小化。 1.1.3 该测试方法可以用于一次评估给定条件下的IUT，也可以用于多次更好地评估IUT在各种条件下的性能（例如，附加范围、各种反射率、环境条件）。 1.2 以国际单位制表示的数值应视为标准。本标准不包括其他计量单位。国际单位制用于本标准中的所有计算和结果。 1.3 本标准中描述的方法并不旨在取代用于仪器校准或补偿的更深入的方法，具体的测量应用可能需要其他测试和分析。 1.4 本标准并不旨在解决与其使用相关的所有安全问题（如有）。本标准的使用者有责任在使用前制定适当的安全、健康和环境实践，并确定监管限制的适用性。 实践ASTM中讨论了安全使用3D成像系统的一些方面 E2641 . 1.5 本国际标准是根据世界贸易组织技术性贸易壁垒委员会发布的《关于制定国际标准、指南和建议的原则的决定》中确立的国际公认的标准化原则制定的。 ====意义和用途====== 4.1 本标准提供了一种用于获得中程3D成像系统的距离误差的测试方法。该测试方法的结果可用于评估或验证中程3D成像系统的测距性能。该测试方法的结果也可用于比较不同仪器的性能。 4.2 通过应用该测试方法获得的IUT的测距性能可能与IUT在某些真实世界条件下的测距性能不同。 例如，物体的几何形状、纹理、温度和反射率以及振动、颗粒物、热梯度、环境照明和环境中的风都会影响测距性能。 4.3 根据制造商和用户之间的共同协议，可以出于仪器验收、保修或合同目的进行测试。根据制造商提供的规范、额定条件和技术文件对IUT进行测试。对于任何 目标2范围 在制造商的规范和任何额定条件下。 4.4 为了了解IUT的行为，在不影响保修的情况下，可以根据需要对本测试进行修改，以表征IUT在制造商额定条件之外但在制造商限制条件内的量程测量性能。 4.5 制造商可以为不同额定条件组的规格提供不同的值，例如，可以在一组更严格额定的环境条件下指定更好的量程测量性能。建议用户，IUT的性能在其他操作模式或额定条件之外可能存在显著差异，并应向制造商询问最能代表计划使用的模式规格。 如果目标不是第节中描述的目标 7. ，或者如果程序不是第节中描述的程序 8. 如果使用，则可能需要本测试方法中未涵盖的额外分析。

1.1 This standard describes a quantitative test method for evaluating the range measurement performance of laser-based, scanning, time-of-flight, 3D imaging systems in the medium range. The term “medium range” refers to systems that are capable of operating within at least a portion of ranges from 2 to 150 m. The term “time-of-flight systems” includes phase-based, pulsed, and chirped systems. The word “standard” in this document refers to a documentary standard as per Terminology E284 . This test method only applies to 3D imaging systems that are capable of producing a point cloud representation of a measured target. 1.1.1 As defined in Terminology E2544 , a range is the distance measured from the origin of a 3D imaging system to a point in space. This range is often referred to as an absolute range. However, since the origin of many 3D imaging systems is either unknown or not readily measurable, a test method for absolute range performance is not feasible for these systems. Therefore, in this test method, the range is taken to be the distance between two points in space on a line that passes through the origin of the 3D imaging system. Although the error in the calculated distance between these two points is a relative-range error , in this test method when the term range error is used it refers to the relative-range error. This test method cannot be used to quantify the constant offset error component of the range error. 1.1.2 This test method recommends that the first point be at the manufacturer-specified target 1 range and requires that the second target be on the same side of the instrument under test (IUT) as the first target. Specification of target 1 range by the manufacturer minimizes the contribution to the relative range measurement error from the target 1 range measurement. 1.1.3 This test method may be used once to evaluate the IUT for a given set of conditions or it may be used multiple times to better assess the performance of the IUT for various conditions (for example, additional ranges, various reflectances, environmental conditions). 1.2 The values stated in SI units are to be regarded as standard. No other units of measurement are included in this standard. SI units are used for all calculations and results in this standard. 1.3 The method described in this standard is not intended to replace more in-depth methods used for instrument calibration or compensation, and specific measurement applications may require other tests and analyses. 1.4 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. Some aspects of the safe use of 3D Imaging Systems are discussed in Practice ASTM E2641 . 1.5 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. ====== Significance And Use ====== 4.1 This standard provides a test method for obtaining the range error for medium-range 3D imaging systems. The results from this test method may be used to evaluate or to verify the range measurement performance of medium-range 3D imaging systems. The results from this test method may also be used to compare performance among different instruments. 4.2 The range performance of the IUT obtained by the application of this test method may be different from the range performance of the IUT under some real-world conditions. For example, object geometry, texture, temperature and reflectance as well as vibrations, particulate matter, thermal gradients, ambient lighting, and wind in the environment will affect the range performance. 4.3 The test may be carried out for instrument acceptance, warranty or contractual purposes by mutual agreement between the manufacturer and the user. The IUT is tested in accordance with manufacturer-supplied specifications, rated conditions, and technical documentation. This test may be repeated for any target 2 range within the manufacturer’s specifications and for any rated conditions. 4.4 For the purposes of understanding the behavior of the IUT and without warranty implications, this test may be modified as necessary to characterize the range measurement performance of the IUT outside the manufacturer’s rated conditions, but within the manufacturer’s limiting conditions. 4.5 The manufacturer may provide different values for the specifications for different sets of rated conditions, for example, better range measurement performance might be specified under a set of more restrictively rated environmental conditions. The user is advised that the IUT’s performance may differ significantly in other modes of operation or outside the rated conditions and should inquire with the manufacturer for specifications of the mode that best represents the planned usage. If a target other than that described in Section 7 , or if procedures other than those described in Section 8 are used, additional analysis not covered in this test method may be required.