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Coping with delays for real-time gaze control: the fall and rise of the Smith `Predictor'

机译：应对实时注视控制的延迟：Smith`Predictor'的下降和上升

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Abstract: In this paper we describe how to cope with the delays inherent in a real time control system for a steerable stereo head/eye platform. A purposive and reactive system requires the use of fast vision algorithms to provide the controller with the error signals to drive the platform. The time-critical implementation of these algorithms is necessary, not only to enable short latency reaction to real world events, but also to provide sufficiently high frequency results with small enough delays that controller remain stable. However, even with precise knowledge of that delay, nonlinearities in the plant make modelling of that plant impossible, thus precluding the use of a Smith Regulator. Moreover, the major delay in the system is in the feedback (image capture and vision processing) rather than feed forward (controller) loop. Delays ranging between 40 msecs and 80 msecs are common for the simple 2D processes, but might extend to several hundred milliseconds for more sophisticated 3D processes. The strategy presented gives precise control over the gaze direction of the cameras despite the lack of a priori knowledge of the delays involved. The resulting controller is shown to have a similar structure to the Smith Regulator, but with essential modifications. !18
机译：摘要：在本文中，我们描述了如何应对可转向立体声头/眼平台实时控制系统中固有的延迟。目的性和反应性系统需要使用快速视觉算法为控制器提供错误信号以驱动平台。这些算法的时间紧迫的实现是必要的，这不仅是为了使对现实事件的短时延响应成为可能，而且还需要以足够小的延迟提供足够高的频率结果，以使控制器保持稳定。但是，即使精确地知道了该延迟，工厂中的非线性也无法对该工厂进行建模，因此无法使用Smith调节器。此外，系统的主要延迟在于反馈（图像捕获和视觉处理），而不是前馈（控制器）环路。对于简单的2D处理，延迟通常在40毫秒到80毫秒之间，而对于更复杂的3D处理，延迟可能会延长到几百毫秒。尽管缺乏对延迟的先验知识，但提出的策略仍可精确控制摄像机的注视方向。所显示的控制器具有与Smith调节器类似的结构，但进行了必要的修改。 ！18

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