Print Email Facebook Twitter IMACS: A Framework for Performance Evaluation of Image Approximation in a Closed-loop System 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 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 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 Files To receive the publication files, please send an e-mail request to TNO Library.