TY - GEN
T1 - A framework of networked visual servo control system with distributed computation
AU - Wu, Haiyan
AU - Lou, Lei
AU - Chen, Chih Chung
AU - Hirche, Sandra
AU - Kühnlenz, Kolja
PY - 2010
Y1 - 2010
N2 - In this paper, a networked visual servo control system with distributed computation is proposed to overcome the low sampling rate problem in vision-based control systems. A real-time image data transmission protocol based on Real-time Transport Protocol (RTP) is developed. The captured images are sent to different processing nodes connected over a communication network and processed in parallel. Thus, a high sampling rate of the visual feedback is achieved under a cloud image processing architecture. The varying image processing delay caused by the varying number of extracted features and the random transmission delay are modeled as a random process with Bernoulli distribution. By using the input-delay approach, the resulted networked visual servo control system is reformulated into a stochastic continuous-time system with time-varying delay. Experiments on two 1-DoF linear motor modules are carried out to validate the proposed approach. A visual servo control system without parallel distributed computation is implemented for comparison. The experimental results demonstrate significant performance improvement by the proposed approach.
AB - In this paper, a networked visual servo control system with distributed computation is proposed to overcome the low sampling rate problem in vision-based control systems. A real-time image data transmission protocol based on Real-time Transport Protocol (RTP) is developed. The captured images are sent to different processing nodes connected over a communication network and processed in parallel. Thus, a high sampling rate of the visual feedback is achieved under a cloud image processing architecture. The varying image processing delay caused by the varying number of extracted features and the random transmission delay are modeled as a random process with Bernoulli distribution. By using the input-delay approach, the resulted networked visual servo control system is reformulated into a stochastic continuous-time system with time-varying delay. Experiments on two 1-DoF linear motor modules are carried out to validate the proposed approach. A visual servo control system without parallel distributed computation is implemented for comparison. The experimental results demonstrate significant performance improvement by the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=79952377467&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2010.5707837
DO - 10.1109/ICARCV.2010.5707837
M3 - Conference contribution
AN - SCOPUS:79952377467
SN - 9781424478132
T3 - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
SP - 1466
EP - 1471
BT - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
T2 - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Y2 - 7 December 2010 through 10 December 2010
ER -