Approximation Trade Offs in an Image-Based Control System

Abstract

Image-based control (IBC) systems use camera sensor(s) to perceive the environment. The inherent compute-heavy nature of image processing causes long processing delay that negatively influences the performance of the IBC systems. Our idea is to reduce the long delay using coarse-grained approximation of the image signal processing pipeline without affecting the functionality and performance of the IBC system. The question is: how is the degree of approximation related to the closed-loop quality-of-control (QoC), memory utilization and energy consumption? We present a software-in-the-loop (SiL) evaluation framework for the above approximation-in-the-loop system. We identify the error resilient stages and the corresponding coarse-grained approximation settings for the IBC system. We perform trade off analysis between the QoC, memory utilisation and energy consumption for varying degrees of coarse-grained approximation. We demonstrate the effectiveness of our approach using a concrete case study of a lane keeping assist system (LKAS). We obtain energy and memory reduction of upto 84% and 29% respectively, for 28% QoC improvements.