PLATE: A perception-latency aware estimator

Aldana-López, Rodrigo (Universidad de Zaragoza) ; Aragüés, Rosario (Universidad de Zaragoza) ; Sagüés, Carlos (Universidad de Zaragoza)

Resumen: 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.

Idioma: Inglés

DOI: 10.1016/j.isatra.2023.08.013

Año: 2023

Publicado en: ISA TRANSACTIONS 142 (2023), 716-730
ISSN: 0019-0578

Factor impacto JCR: 6.3 (2023)

Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 11 / 84 = 0.131 (2023) - Q1 - T1
Categ. JCR: ENGINEERING, MULTIDISCIPLINARY rank: 8 / 181 = 0.044 (2023) - Q1 - T1
Categ. JCR: INSTRUMENTS & INSTRUMENTATION rank: 6 / 76 = 0.079 (2023) - Q1 - T1

Factor impacto CITESCORE: 11.7 - Applied Mathematics (Q1) - Instrumentation (Q1) - Electrical and Electronic Engineering (Q1) - Control and Systems Engineering (Q1) - Computer Science Applications (Q1)

Factor impacto SCIMAGO: 1.572 - Applied Mathematics (Q1) - Electrical and Electronic Engineering (Q1) - Instrumentation (Q1) - Control and Systems Engineering (Q1) - Computer Science Applications (Q1)

Tipo y forma: Article (Published version)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)