Time-varying delay measurement of video capture-to-display components with application to visual servoing

n this paper, we analyse the delays introduced by the video grabbing and display components in typical video based systems, and address the problem of providing a frame-by-frame measure of such delays. We discuss the known methods for measuring the latency due to the video acquisition process, and propose a method for measurement of the time-varying delays of the capture-to-display components, which does not require a dedicated measurement system and can be embedded in the same video communication system under observation. The method is demonstrated in the context of an autonomous visual servoing task, in which a simulated robotic arm, controlled by a tracking system, is used to hit/grasp a moving object