# Glossary
```{glossary}
:sorted:

RoboKudo
    A robotic perception framework. Employs an ensemble of (perception) experts which are combined in tree structure inspired by Behaviour Trees.
    
Annotator
    A processing module built for a single subtask of a Perception Task.

RoboKudo Webexplorer
    A webinterface for interaction with RoboKudo.

Perception Task
    A task given to the RoboKudo system. An example for this could be "Detect fruits on the table".

Common Analysis Structure (CAS)
    A datastructure that is used to share information between Annotators.

Annotation
    A piece of information created by an {term}`Annotator` that is stored in the {term}`Common Analysis Structure (CAS)`.

Perception Pipeline Tree (PPT)
    A tree made of Annotators and Sequences of Annotators that computes a Perception Task. The tree is "ticked" with a certain frequency to trigger the computations and checks.

Total Tick Time (TTT)
    The total time required to **compute** a tick of the whole {term}`Perception Pipeline Tree (PPT)` once.

MilliSeconds Per Tick (MSPT)
    The total time spent on a single tick of the whole {term}`Perception Pipeline Tree (PPT)` including time spent in idle before starting the next tick.

Goal MilliSeconds Per Tick (Goal MSPT)
    The goal value for {term}`MilliSeconds Per Tick (MSPT)`. Depends on the configured tick frequency in {term}`RoboKudo` .

Analysis Engine (AE)
    A collection of {term}`Perception Pipeline Tree (PPT)` definitions.

ObjectHypothesis
    The basic annotation in {term}`RoboKudo`, marking an object in the image.

Region Of Interest (ROI)
    The region in an image containing an object of interest.
```

{term}`RoboKudo`