A registration evaluation system using an industrial robot

This paper describes an evaluation system using an industrial robot, constructed for the purpose of evaluating registration technology for Mixed Reality. In this evaluation system, the tip of the robot arm plays the role of the user´s head, where a head- mounted display is mounted. By using an industrial robot, we can obtain the ground truth of the camera pose with a high level of accuracy and robustness. Additionally, we have the ability to play back the same specified operations repeatedly under identical conditions. In addition to the system implementation, we propose evaluation methods for motion robustness, relative orientation robustness, relative distance robustness, jitter, and an overall evaluation. We verify the validity of this system through some experiments.