Analysis on time-delay of commercial off-the-shelf vision system considering motion-blur

We analyze inherent time-delay of commercial off-the-shelf (COTS) vision system in measuring postures of moving objects, and present the minimum sensing time-delay obtainable. Slow shutter speed in COTS vision systems causes motion-blur in moving objects, which invites vagueness in time-delay as well as in measured position. We can overcome the vagueness by introducing exposure time-delay. Considering the exposure time-delay and image transfer time of overlay boards, we can find out the minimum sensing time-delay (MSTD) in COTS vision systems. Also, by utilizing the field-interleaved scanning and slow readout speed of COTS cameras, we propose a posture determination algorithm that guarantees MSTD, which uses both field-based processing and processing during overlaying methods. To verify validity of the proposed MSTD and the algorithm, the overall time-delay of our COTS vision system is measured directly via pendulum experiments