== Abstract ==

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Image Processing (IP) applications have become popular with the advent of efficient algorithms and low-cost CMOS cameras with high resolution. However, IP applications are compute-intensive, consume a lot of energy and have long processing times. Image approximation has been proposed by recent works for an energy-efficient design of these applications. It also reduces the impact of long processing times. The challenge here is that the IP applications often work as a part of bigger closed-loop control systems, e.g. advanced driver assistance system (ADAS). The impact of image approximations that tolerate certain error on these image-based control (IBC) systems is very important. However, there is a lack of tool support to evaluate the performance of such closed-loop IBC systems when the IP is approximated. We propose a framework - for both software-in-the-loop (SiL) and hardware-in-the-loop (HiL) simulation - for performance evaluation of image approximation on a closed-loop automotive IBC system (IMACS). Both simulation setups model the 3D environment in 3ds Max, and simulate the system dynamics, camera position and environment in V-REP. Our SiL setup simulates the system software in C++ or Matlab. Here, V-REP runs as a server and the software as a client in synchronous mode. Our HiL simulation setup runs the system software in the NVIDIA Drive PX2 platform and communicates to V-REP using application programming interfaces (APIs) for synchronous execution. We show the effectiveness of our framework using a vision-based lateral control example.

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== Original document ==

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The different versions of the original document can be found in:

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* [http://dx.doi.org/10.1109/meco.2019.8760055 http://dx.doi.org/10.1109/meco.2019.8760055] under the license https://creativecommons.org/licenses/by-nd

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* [http://resolver.tudelft.nl/uuid:93822fa7-042a-497a-b735-e0e5d64c7f03 http://resolver.tudelft.nl/uuid:93822fa7-042a-497a-b735-e0e5d64c7f03]

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* [https://pure.tue.nl/ws/files/131905081/IMACS.pdf https://pure.tue.nl/ws/files/131905081/IMACS.pdf]

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* [http://www.es.ele.tue.nl/cps/automotive/#imacs http://www.es.ele.tue.nl/cps/automotive/#imacs],

: [http://dx.doi.org/10.1109/meco.2019.8760055 http://dx.doi.org/10.1109/meco.2019.8760055] under the license cc-by-nd

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* [http://xplorestaging.ieee.org/ielx7/8752173/8759882/08760055.pdf?arnumber=8760055 http://xplorestaging.ieee.org/ielx7/8752173/8759882/08760055.pdf?arnumber=8760055],

: [http://dx.doi.org/10.1109/meco.2019.8760055 http://dx.doi.org/10.1109/meco.2019.8760055]

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* [https://www.narcis.nl/publication/RecordID/oai%3Apure.tue.nl%3Apublications%2F89303fbf-f580-49c3-a572-cd5487753653 https://www.narcis.nl/publication/RecordID/oai%3Apure.tue.nl%3Apublications%2F89303fbf-f580-49c3-a572-cd5487753653],

: [https://repository.tudelft.nl/view/tno/uuid:93822fa7-042a-497a-b735-e0e5d64c7f03 https://repository.tudelft.nl/view/tno/uuid:93822fa7-042a-497a-b735-e0e5d64c7f03],

: [https://research.tue.nl/nl/publications/imacs-a-framework-for-performance-evaluation-of-image-approximati https://research.tue.nl/nl/publications/imacs-a-framework-for-performance-evaluation-of-image-approximati],

: [https://tue-staging.elsevierpure.com/en/publications/imacs-a-framework-for-performance-evaluation-of-image-approximati https://tue-staging.elsevierpure.com/en/publications/imacs-a-framework-for-performance-evaluation-of-image-approximati],

: [https://academic.microsoft.com/#/detail/2961686991 https://academic.microsoft.com/#/detail/2961686991]

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