IMACS: a framework for performance evaluation of image approximation in a closed-loop system

Sajid Mohamed, Sayandip De, Konstantinos Bimpisidis, Vishak Nathan, Dip Goswami, Henk Corporaal, Twan Basten

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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.
Original languageEnglish
Title of host publication2019 8th Mediterranean Conference on Embedded Computing, MECO 2019 - Proceedings
EditorsRadovan Stojanovic, Lech Jozwiak, Budimir Lutovac, Drazen Jurisic
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages4
ISBN (Electronic)978-1-7281-1740-9
ISBN (Print)978-1-7281-1739-3
DOIs
Publication statusPublished - Jun 2019
Event8th Mediterranean Conference on Embedded Computing (MECO) - Budva, Montenegro
Duration: 10 Jun 201914 Jun 2019

Conference

Conference8th Mediterranean Conference on Embedded Computing (MECO)
CountryMontenegro
CityBudva
Period10/06/1914/06/19

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Cite this

Mohamed, S., De, S., Bimpisidis, K., Nathan, V., Goswami, D., Corporaal, H., & Basten, T. (2019). IMACS: a framework for performance evaluation of image approximation in a closed-loop system. In R. Stojanovic, L. Jozwiak, B. Lutovac, & D. Jurisic (Eds.), 2019 8th Mediterranean Conference on Embedded Computing, MECO 2019 - Proceedings [8760055] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MECO.2019.8760055