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Bionic eye multichannel IMU and camera hardware time synchronization method and device

A hardware time and bionic eye technology, applied in the direction of navigation through speed/acceleration measurement, navigation calculation tools, etc., to achieve the effect of improving time synchronization accuracy, precise correspondence, and avoiding time synchronization errors

Active Publication Date: 2019-12-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] In view of the shortcomings of the above existing technologies, in order to solve the problem of synchronous acquisition of data from multiple IMUs and multiple cameras in the bionic eye system, a bionic eye multi-channel IMU and camera hardware time synchronization method and device are proposed.

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Embodiment Construction

[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0043]It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for ...

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Abstract

The invention discloses a bionic eye multichannel IMU and camera hardware time synchronization method and device. The method comprises the steps as follows: IMU setting is performed, the output frequency of IMUs is used as a period reference of hardware time synchronization and alignment, and pulse signals are synchronously output when the IMUs output data; camera setting is performed, the relatedattributes and fixed exposure duration of image acquisition of the cameras are set, the cameras are enabled to perform image acquisition after receiving external trigger pulses, and trigger pulse signals for the cameras are generated by using output pulse signals from the IMUs; and a hardware synchronization unit performs frequency division according to a fixed frequency when capturing output pulse signals from the IMUs, and generates trigger pulse signals to synchronously trigger the cameras in all channels. Accurate hardware synchronization and alignment are realized, and depth informationof an environment sensed by a bionic eye system and real-time three-dimensional pose information during movement of the bionic eye system can be recovered more quickly and accurately. The method and the device are worthy of popularization.

Description

technical field [0001] The invention relates to the technical field of multi-sensor fusion perception, in particular to a bionic eye multi-channel IMU and camera hardware time synchronization method and device. Background technique [0002] To achieve accurate perception of the environment and environmental map modeling for positioning and navigation, it is necessary to fuse measurement data from multiple / multiple sensors. The prerequisite for data fusion of multiple / multiple sensors is the synchronous collection of data from each sensor, so the time synchronization of data collection for each sensor is required. [0003] Existing multi-sensor time synchronization methods are divided into software time synchronization and hardware time synchronization. Among them, the method of software time synchronization is limited by the accuracy of the synchronization clock of the computing carrier, which often requires the operating system to meet hard real-time requirements, which br...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 黄强陈晓鹏苟思远华承昊孟非高峻峣
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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