Maximizing the Use of Computational Resources in Multi-Camera Feedback Control

• In vision-based feedback control systems, the time to obtain sensor information is usually non-negligible, and these systems thereby possess fundamentally different timing behavior compared to standard real-time control applications. For many image-based tracking algorithms, however, it is possible to trade-off the computational time versus the accuracy of the produced position/orientation estimates.This paper presents a method for optimizing the use of computational resources in a multi-camera based positioning system. A simplified equation for the covariance of the position estimation error is calculated, which depends on the set of cameras used and the number of edge detection points in each image. An efficient algorithm for selection of a suitable subset of the available cameras is presented, which attempts to minimize the estimation covariance given a desired, pre-specified maximum input-output latency of the feedback control loop.Simulations have been performed that capture the real-time properties of the vision-based tracking algorithm and the effects of the timing on the performance of the control system. The suggested strategy has been compared with heuristic algorithms, and it obtains large improvements in estimation accuracy and performance for objects both in free motion and under closed-loop position control.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

closed-loop position control

heuristic algorithms

estimation covariance

edge detection points

multicamera feedback control

sensor information

real-time control applications

computational resources

position estimation error

multicamera based positioning system

image-based tracking algorithms

vision-based feedback control systems

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