DocumentCode :
324091
Title :
Performance evaluation of vision-based control tasks
Author :
Gartner, Peter Kraut ; Vincze, Markus
Author_Institution :
Inst. of Flexible Autom., Tech. Univ. Wien, Austria
Volume :
3
fYear :
1998
fDate :
16-20 May 1998
Firstpage :
2315
Abstract :
The tracking performance of vision-based control systems is evaluated and the optimal system configuration found. Configurations evaluated are serial or parallel image acquisition and processing, and pipeline processing. The basis of the optimization is the design of an optimal controller independent of the system configuration. Using this controller design a relation between system latency and maximum pixel error is derived. This relation is used to find maximum dynamic performance for the system configurations. The performance measure is the maximum velocity of the target in the image that can be tracked. The final comparison shows that processing in a pipeline obtains highest velocity due to high cycle rate of the system. The parameters for the point of maximum velocity are derived i.e., the optimal number of steps in a pipeline
Keywords :
computer vision; control system synthesis; image sensors; optimal control; optimisation; pipeline processing; three-term control; maximum dynamic performance; maximum pixel error; optimal controller; performance evaluation; pipeline processing; system latency; vision-based control tasks; Automatic control; Control systems; Delay; Error correction; Image processing; Motion control; Optimal control; Pipeline processing; Target tracking; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
ISSN :
1050-4729
Print_ISBN :
0-7803-4300-X
Type :
conf
DOI :
10.1109/ROBOT.1998.680668
Filename :
680668
Link To Document :
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