Title
IMACS: A Framework for Performance Evaluation of Image Approximation in a Closed-loop System
Author
Mohamed, S.
De, S.
Bimpisidis, K.
Nathan, V.
Goswami, D.
Corporaal, H.
Basten, T.
Publication year
2019
Abstract
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.
Subject
3D modeling
Advanced driver assistance systems
Application programming interfaces (API)
Application programs
Automobile drivers
C++ (programming language)
Closed loop systems
Computer systems programming
Energy efficiency
Image processing
MATLAB
Simulation platform
Energy-efficient design
Hardwarein-the-loop(HIL) simulation
Image-based control
Software in the loop(SIL)
System Dynamics
System softwares
To reference this document use:
http://resolver.tudelft.nl/uuid:93822fa7-042a-497a-b735-e0e5d64c7f03
DOI
https://doi.org/10.1109/meco.2019.8760055
TNO identifier
869841
Publisher
Institute of Electrical and Electronics Engineers Inc.
ISBN
9781728117409
Source
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
Article number
8760055
Document type
conference paper