129653 20260212204406.0 doi 10.1016/j.isatra.2023.08.013 sideral 136053 ART-2023-136053 eng Aldana-López, Rodrigo Universidad de Zaragoza (orcid)0000-0001-6939-6523 PLATE: A perception-latency aware estimator 2023 Access copy available to the general public Unrestricted Target tracking is a popular problem with many potential applications. There has been a lot of effort on improving the quality of the detection of targets using cameras through different techniques. In general, with higher computational effort applied, i.e., a longer perception-latency, a better detection accuracy is obtained. However, it is not always useful to apply the longest perception-latency allowed, particularly when the environment does not require to and when the computational resources are shared between other tasks. In this work, we propose a new Perception-LATency aware Estimator (PLATE), which uses different perception configurations in different moments of time in order to optimize a certain performance measure. This measure takes into account a perception-latency and accuracy trade-off aiming for a good compromise between quality and resource usage. Compared to other heuristic frame-skipping techniques, PLATE comes with a formal complexity and optimality analysis. The advantages of PLATE are verified by several experiments including an evaluation over a standard benchmark with real data and using state of the art deep learning object detection methods for the perception stage. info:eu-repo/semantics/openAccess by-nc-nd https://creativecommons.org/licenses/by-nc-nd/4.0/deed.es 6.3 2023 AUTOMATION & CONTROL SYSTEMS 11 / 84 = 0.131 2023 Q1 T1 ENGINEERING, MULTIDISCIPLINARY 8 / 181 = 0.044 2023 Q1 T1 INSTRUMENTS & INSTRUMENTATION 6 / 76 = 0.079 2023 Q1 T1 1.572 2023 Applied Mathematics 2023 Q1 Computer Science Applications 2023 Q1 Instrumentation 2023 Q1 Electrical and Electronic Engineering 2023 Q1 Control and Systems Engineering 2023 Q1 11.7 2023 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Aragüés, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 Sagüés, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 142 (2023), 716-730 ISA trans. ISA TRANSACTIONS 0019-0578 1414322 http://zaguan.unizar.es/record/129653/files/texto_completo.pdf Versión publicada 2993463 http://zaguan.unizar.es/record/129653/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:129653 articulos driver 2026-02-12-20:41:31 ARTICLE