A testbed for vision-based networked control systems

Christoph Bachhuber, Simon Conrady, Michael Schütz, Eckehard Steinbach

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

With the availability of low-latency wireless communication and low-delay video communication solutions, vision-based networked control systems (NCS) become feasible. In this paper, we describe an NCS testbed which is suitable for the evaluation of the interplay of computer vision algorithms, network protocols and control algorithms under a delay constraint. The system comprises an inverted pendulum which is monitored by a video camera. The h.264-encoded video is sent over a network to an image processing computer. This computer extracts the angle of inclination of the pendulum from the decoded video and sends it over a wireless link to the pendulum. The pendulum uses the angle in a control algorithm to keep itself in a vertical position. We provide a detailed description of the system including the control algorithm and the image processing algorithms, and analyse the latency contributors of the system. The build instructions and source code of the testbed are publicly available. As the testbed is based on standard low-priced components, it is particularly suitable for educational purposes.

Original languageEnglish
Title of host publicationComputer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers
EditorsMarkus Vincze, Haoyao Chen, Ming Liu
PublisherSpringer Verlag
Pages26-36
Number of pages11
ISBN (Print)9783319683447
DOIs
StatePublished - 2017
Event11th International Conference on Computer Vision Systems, ICVS 2017 - Shenzhen, China
Duration: 10 Jul 201713 Jul 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10528 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference11th International Conference on Computer Vision Systems, ICVS 2017
Country/TerritoryChina
CityShenzhen
Period10/07/1713/07/17

Keywords

  • Computer vision systems
  • Low delay video communication
  • Networked control systems
  • Vision-based control

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