TY - GEN
T1 - A testbed for vision-based networked control systems
AU - Bachhuber, Christoph
AU - Conrady, Simon
AU - Schütz, Michael
AU - Steinbach, Eckehard
N1 - Publisher Copyright:
© 2017, Springer International Publishing AG.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
KW - Computer vision systems
KW - Low delay video communication
KW - Networked control systems
KW - Vision-based control
UR - http://www.scopus.com/inward/record.url?scp=85031776880&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-68345-4_3
DO - 10.1007/978-3-319-68345-4_3
M3 - Conference contribution
AN - SCOPUS:85031776880
SN - 9783319683447
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 26
EP - 36
BT - Computer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers
A2 - Vincze, Markus
A2 - Chen, Haoyao
A2 - Liu, Ming
PB - Springer Verlag
T2 - 11th International Conference on Computer Vision Systems, ICVS 2017
Y2 - 10 July 2017 through 13 July 2017
ER -