IMACS: A Framework for Performance Evaluation of Image Approximation in a Closed-loop System
conference paper
Image Processing (IP) applications have become popular with the advent of efficient algorithms and low-cost CMOS cameras with high resolution. However, IP applications are compute-intensive, consume a lot of energy and have long processing times. Image approximation has been proposed by recent works for an energy-efficient design of these applications. It also reduces the impact of long processing times. The challenge here is that the IP applications often work as a part of bigger closed-loop control systems, e.g. advanced driver assistance system (ADAS). The impact of image approximations that tolerate certain error on these image-based control (IBC) systems is very important. However, there is a lack of tool support to evaluate the performance of such closed-loop IBC systems when the IP is approximated. We propose a framework - for both software-in-the-loop (SiL) and hardware-in-the-loop (HiL) simulation - for performance evaluation of image approximation on a closed-loop automotive IBC system (IMACS). Both simulation setups model the 3D environment in 3ds Max, and simulate the system dynamics, camera position and environment in V-REP. Our SiL setup simulates the system software in C++ or Matlab. Here, V-REP runs as a server and the software as a client in synchronous mode. Our HiL simulation setup runs the system software in the NVIDIA Drive PX2 platform and communicates to V-REP using application programming interfaces (APIs) for synchronous execution. We show the effectiveness of our framework using a vision-based lateral control example.
Topics
3D modelingAdvanced driver assistance systemsApplication programming interfaces (API)Application programsAutomobile driversC++ (programming language)Closed loop systemsComputer systems programmingEnergy efficiencyImage processingMATLABSimulation platformEnergy-efficient designHardwarein-the-loop(HIL) simulationImage-based controlSoftware in the loop(SIL)System DynamicsSystem softwares
TNO Identifier
869841
ISBN
978-1-7281-1740-9
Publisher
Institute of Electrical and Electronics Engineers Inc.
Article nr.
8760055
Source title
2019 8th Mediterranean Conference on Embedded Computing, MECO 2019 - Proceedings, 8th Mediterranean Conference on Embedded Computing, MECO 2019, 10 June 2019 through 14 June 2019
Files
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