IMACS Framework
IMACS is a framework for performance evaluation of IMAge in the Closed-loop System.
Installation
IMACS SiL for image approximation in a closed-loop system: ISP pipeline, C++, and V-REP for LKAS
IMACS software-in-the-loop (SiL) simulator using C++ and V-REP for a vision-based lateral control example can be downloaded from here. This version of the SiL simulator uses a reversible pipeline (see [1] for more details).
IMACS SiL with C++ and V-REP for LKAS
A light-weight SiL simulator using C++ and V-REP to validate your image processing and control algorithms can be downloaded from here. This version of the SiL simulator does not have the reversible pipeline.
Videos
A video for the software-in-the-loop (SiL) simulator of IMACS using C++ and V-REP for a vision-based lateral control example:
A video for the hardware-in-the-loop (HiL) simulator of IMACS using V-REP and NVIDIA AGX Xavier for a vision-based lateral control example can be found here.
A video for the hardware-in-the-loop (HiL) simulator of IMACS using Webots and NVIDIA Drive PX2 for a vision-based lateral control example can be found here.
Relevant Publications
[1] S. De, Y. Huang, S. Mohamed, D. Goswami, and H. Corporaal, "Hardware- and Situation-Aware Sensing for Robust Closed-Loop Control Systems," In Design, Automation and Test in Europe Conference (DATE), 2021. [paper]
[2] S. De, S. Mohamed, D. Goswami, and H. Corporaal, "Approximation-Aware Design of an Image-Based Control System," In IEEE Access, 2020. [pdf] [bibtex]
[3] S. De, S. Mohamed, K. Bimpisidis, D. Goswami, T. Basten, and H. Corporaal, "Approximation trade offs in an image-based control system," In Design, Automation and Test in Europe Conference (DATE), 2020. [paper] [slides] [bibtex]
[4] S. Mohamed, S. De, K. Bimpisidis, V, Nathan, D. Goswami, H. Corporaal, and T. Basten, "IMACS: a framework for performance evaluation of image approximation in a closed-loop system," In 8th Mediterranean Conference on Embedded Computing (MECO), 2019. [pdf] [slides] [details] [bibtex] (Best paper award)
The controllers for the LKAS are designed based on the concepts described in the following papers:
[5] S. Mohamed, D. Goswami, V. Nathan, R. Rajappa, and T. Basten, "A scenario-and platform-aware design flow for image-based control systems," In Microprocessors and Microsystems (MICPRO), 2020. [DOI] [pdf] [bibtex]
[6] S. Mohamed, A. U. Awan, D. Goswami, and T. Basten, "Designing image-based control systems considering workload variations," In IEEE 58th Conference on Decision and Control (CDC), 2019. [pdf] [slides] [bibtex]
[7] S. Mohamed, D. Zhu, D. Goswami, and T. Basten, "Optimising Quality-of-Control for Data-intensive Multiprocessor Image-Based Control Systems considering Workload Variations," In Digital System Design (DSD), 2018. [pdf] [slides] [bibtex]
Developers
Sajid Mohamed
Sayandip De
Konstantinos Bimpisidis
Vishak Nathan
Diqing Zhu
Yingkai Huang
Chaolun Ma