ROBOTİK SİSTEMLERDE KAMERA TABANLI ALGININ DOĞRULANMASI İÇİN HATA ENJEKSİYON ARACI VE VERİ KÜMESİNİN GELİŞTİRİLMESİ

Günümüzde robotik sistemlerde kamera tabanlı algılama en popüler konulardan biridir. Mevcut araç ve yöntemlerle kamera tabanlı algılama sistemlerinin doğrulanması da çok önemli ve zordur. Bu çalışma, robotik sistemlerde doğrulama ve onaylama faaliyetlerini gerçekleştirmek için RGB ve TOF kameralara farklı türlerde hata enjeksiyon yöntemleri sağlayan Kamera Hatası Enjeksiyon Aracını (CamFITool) önermektedir. Ayrıca CamFITool tarafından oluşturulan hata enjekte edilmiş imge kümesi tanıtılmaktadır. Buna ek olarak çalışma, CamFITool ile mevcut görüntü kitaplıklarına veya kamera akışlarına hatalar enjekte ederek yeni imge kümeleri oluşturmak için okuyuculara rehberlik edilmektedir. Sonuç olarak, hataya dayanıklı sistemlerin emniyet ve güvenliğini değerlendirmek için kritik bir araç olan açık kaynaklı hata enjeksiyon aracı CamFITool önerilmiştir. Ayrıca robotik sistemlerde kamera tabanlı algılama çalışmalarının doğrulanması için CamFITool tarafından oluşturulan hata enjekte edilmiş görüntü veri kümesi verilmiştir.

Anahtar Kelimeler:

robotik, doğrulama, hata enjeksiyonu, imge kümesi, Kamera Tabanlı Algılama

DEVELOPMENT OF A FAULT INJECTION TOOL & DATASET FOR VERIFICATION OF CAMERA BASED PERCEPTION IN ROBOTIC SYSTEMS

Nowadays, camera-based perception is most popular topic in robotic systems. Verification of camera-based perception systems are crucial and difficult with current tools and methods. This study proposes Camera Fault Injection Tool (CamFITool), which enables different kind of fault injection methods to RGB and TOF cameras in order to perform verification and validation activities on robotic systems. Besides, Fault Injected Image Database which is created by CamFITool is introduced. In addition, the study guides to readers to create new datasets by injecting faults into existing image libraries or camera streams with CamFITool. As a result, CamFITool, an open-source fault injection tool, which is a critical tool for assessing of fault tolerant systems’ safety and security, is proposed. Also, a fault injected image dataset created by CamFITool for verification of camera-based perception studies in robotic systems is given.

Keywords:

robotics, verification, fault injection, image dataset, camera-based perception,

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