1.1 本标准描述了一种定量测试方法，用于评估基于激光、扫描、飞行时间、， 3D成像系统 在中等范围内。术语“中程”是指能够在2到150米范围内的至少一部分范围内运行的系统。“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年 . 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 如术语所定义 E2544 一 范围 是从三维成像系统原点到空间点的距离。该范围通常称为绝对范围。然而，由于许多三维成像系统的起源未知或不容易测量，因此绝对距离性能的测试方法对于这些系统不可行。 因此，在该测试方法中，范围被视为穿过三维成像系统原点的直线上空间两点之间的距离。虽然这两点之间计算距离的误差为 相对范围误差 在本试验方法中，当使用术语范围误差时，它是指相对范围误差。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个点位于制造商规定的位置 目标1范围 并要求第二个靶标与第一个靶标位于被测仪器（IUT）的同一侧。规范 目标1范围 制造商将目标1距离测量对相对距离测量误差的贡献降至最低。 1.1.3 该测试方法可用于一次评估一组给定条件下的IUT，也可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值。本标准不包括其他计量单位。本标准中的所有计算和结果均采用国际单位制。 1.3 本标准中描述的方法并非旨在取代用于仪器校准或补偿的更深入的方法，特定测量应用可能需要其他测试和分析。 1.4 本标准并非旨在解决与其使用相关的所有安全问题（如有）。本标准的用户有责任在使用前制定适当的安全和健康实践，并确定监管限制的适用性。 在实践中讨论了安全使用三维成像系统的一些方面 E2641 . ====意义和用途====== 4.1 本标准提供了一种获得介质范围误差的测试方法- 范围3D成像系统。该测试方法的结果可用于评估或验证中程3D成像系统的距离测量性能。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宫内节育器的射程性能可能不同于某些实际条件下宫内节育器的射程性能。例如，物体几何形状、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将影响范围性能。 4.3 根据制造商和用户之间的相互协议，可出于仪器验收、保修或合同目的进行测试。IUT根据制造商提供的规范、额定条件和技术文件进行测试。 任何情况下都可以重复该测试 目标2范围 在制造商规范范围内，适用于任何额定条件。 4.4 为了理解宫内节育器的行为且不影响保修，可根据需要修改本试验，以在制造商额定条件外但在制造商限制条件内表征宫内节育器的量程测量性能。 4.5 制造商可以为不同额定条件集的规范提供不同的值，例如，在一组更严格的额定环境条件下，可以指定更好的量程测量性能。建议用户，IUT的性能可能在其他操作模式或额定条件外有显著差异，应向制造商咨询最能代表计划使用的模式的规格。 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，则可能需要本试验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 and health 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 . ====== 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.