CN107172320A - Method of data synchronization and picture pick-up device - Google Patents
Method of data synchronization and picture pick-up device Download PDFInfo
- Publication number
- CN107172320A CN107172320A CN201710474561.9A CN201710474561A CN107172320A CN 107172320 A CN107172320 A CN 107172320A CN 201710474561 A CN201710474561 A CN 201710474561A CN 107172320 A CN107172320 A CN 107172320A
- Authority
- CN
- China
- Prior art keywords
- data
- frame image
- image data
- synchronizing signal
- collection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/2224—Studio circuitry; Studio devices; Studio equipment related to virtual studio applications
Abstract
The invention discloses a kind of method of data synchronization and picture pick-up device, applied in the picture pick-up device for including camera device and inertia measurement sensor, while the frame image data during the camera device often gathers the video image, synchronizing signal is sent to the inertia measurement sensor；When the inertia measurement sensor receives the synchronizing signal, the motion track information of the picture pick-up device is gathered using the inertia measurement sensor；The motion track information of every frame image data of collection, corresponding timestamp and its synchronization is stored.Method of data synchronization and picture pick-up device that the present invention is provided, can effectively improve the uniformity of synchronous view data and IMU data.
Description
Technical field
The present invention relates to technical field of data processing, more particularly to a kind of method of data synchronization and picture pick-up device.
Background technology
In AR fields, it is necessary to obtain gesture identification or motion tracking using camera device, in addition it is also necessary to use inertia measurement
Unit (Inertial measurement unit, abbreviation IMU) obtains movement locus (acceleration information and angular speed number
According to), the data syn-chronization that two kinds of equipment of many application requirement camera devices and IMU such as being followed the trail of Slam are gathered in AR fields is existing
There is the method that technology is compared typically by timestamp to get synchronous view data and IMU data, and respectively to figure
With regard to existing error during as data and IMU data progress signature addition timestamp so that passage time stamp control methods is obtained
The probability that error occurs in synchronous view data and IMU data is higher, causes the view data for synchronization occur consistent with IMU data
The problem of property is relatively low.
The content of the invention
The invention provides a kind of method of data synchronization and picture pick-up device, can effectively improve synchronous view data and
The uniformity of IMU data.
The application first aspect provides a kind of method of data synchronization, is passed applied to camera device and inertia measurement is included
In the picture pick-up device of sensor, including：
While the frame image data during the camera device often gathers vedio data, synchronizing signal is sent
To the inertia measurement sensor；
When the inertia measurement sensor receives the synchronizing signal, institute is gathered using the inertia measurement sensor
State the motion track information of picture pick-up device；
The motion track information of every frame image data of collection, corresponding timestamp and its synchronization is integrated into one group of data
Stored afterwards.
Optionally, the frame image data in the camera device often gathers the vedio data is same
When, synchronizing signal is sent to the inertia measurement sensor, specifically included：
, will while the frame image data during the camera device often gathers the vedio data starts exposure
The synchronizing signal is sent to the inertia measurement sensor.
Optionally, when the picture pick-up device includes central processing unit, methods described also includes：
While the synchronizing signal is sent to the inertia measurement sensor, the synchronizing signal is sent to described
Central processing unit；
When the central processing unit receives the synchronizing signal, the central processing unit reads the inertia measurement and passed
The motion track information of sensor collection；
The central processing unit by every frame image data of collection, corresponding timestamp and its synchronization motion track information
Stored after being integrated into one group of data.
Optionally, in every group of data storage or when being transmitted to other equipment, the shooting is added in every group of data
The parameter of the parameter of device and the inertia measurement sensor.
Optionally, integrated by the motion track information of every frame image data of collection, corresponding timestamp and its synchronization
Before being stored after into one group of data, methods described also includes：
Every frame image data of collection is signed, the corresponding timestamp of every frame image data gathered.
Optionally, the frame per second of the camera device collection video image is less than described in inertia measurement sensor collection and taken the photograph
As the sample rate of the motion track information of equipment.
Another embodiment of the application additionally provides a kind of picture pick-up device, including camera device, inertia measurement sensor and in
Central processor, including：
The camera device is used to gather video image, and every frame image data in collection vedio data
Meanwhile, synchronizing signal is sent to the inertia measurement sensor；
The inertia measurement sensor, for when receiving the synchronizing signal that the camera device is sent, gathering institute
State the motion track information of picture pick-up device；
The central processing unit, for by every frame image data of the collection of acquisition, corresponding timestamp and its synchronization
Motion track information is stored after being integrated into one group of data.
Optionally, the camera device, the frame image data being also used in every collection vedio data starts
While exposure, the synchronizing signal is sent to the inertia measurement sensor.
Optionally, when synchronizing signal is sent to the inertia measurement sensor by the camera device, methods described is also wrapped
Include：
The synchronizing signal is sent to the central processing unit by the camera device；
When the central processing unit receives the synchronizing signal, the fortune of the inertia measurement sensor collection is read
Dynamic trace information；
The central processing unit by every frame image data of collection, corresponding timestamp and its synchronization motion track information
Stored after being integrated into one group of data.
Optionally, the frame per second of the camera device collection video image is less than described in inertia measurement sensor collection and taken the photograph
As the sample rate of the motion track information of equipment.
Beneficial effects of the present invention are as follows：
Based on above-mentioned technical proposal, due to often gathering the video image number in the camera device in the embodiment of the present application
While a frame image data in, the inertia measurement sensor is controlled to gather the picture pick-up device by synchronizing signal
Motion track information；The motion track information of every frame image data of collection, corresponding timestamp and its synchronization is integrated into again
Stored after one group of data, in this way, data acquisition when just view data is synchronized with motion track information so that
Effectively reduce synchronous view data and the probability of error occur with motion track information, and then effectively increase synchronous image
The uniformity of data and IMU data.
Brief description of the drawings
Fig. 1 is a kind of method flow diagram of method of data synchronization in the embodiment of the present invention；
Fig. 2 is every frame image data, corresponding timestamp and its synchronous movement locus gathered in the embodiment of the present invention
Information integration into one group of data structure chart；
Fig. 3 is the flow chart of data processing figure of camera device, IMU and central processing unit in the embodiment of the present invention.
Embodiment
The invention provides a kind of method of data syn-chronization and picture pick-up device, can effectively improve synchronous view data and
The uniformity of IMU data.
Embodiment one：
As shown in figure 1, in the embodiment of the present invention provide a kind of method of data synchronization, applied to include camera device and
In the picture pick-up device of inertia measurement sensor, comprise the following steps：
S101, while the frame image data during the camera device often gathers vedio data, by synchronous letter
Number it is sent to the inertia measurement sensor；
S102, when the inertia measurement sensor receives the synchronizing signal, utilize the inertia measurement sensor
Gather the motion track information of the picture pick-up device；
S103, by every frame image data of collection, corresponding timestamp and its synchronization motion track information be integrated into one
Stored after group data.
In the embodiment of the present application, mask body is represented with IMU under inertia measurement sensor, and the camera device for example can be
The camera arrangements such as camera, video camera；Further, the executive agent in the embodiment of the present application is to include camera device and used
The picture pick-up device of property measurement sensor.
In the embodiment of the present application, the exposure mode of the camera device can be global exposure mode and roller shutter exposure mould
Formula, is preferably global exposure mode, and the probability of motion blur phenomenon occurs in the moving object to reduce shooting.
Wherein, before step S101 is performed, start the camera device, then perform step S101, the shooting dress
Put to gather and include the vedio data of multiple image data, and the frame image data in every collection video image
Meanwhile, synchronizing signal is sent to the inertia measurement sensor.
Specifically, during the camera device is started, the picture pick-up device is firstly the need of on the camera device
Electricity so that the camera device is in holding state, then the picture pick-up device send enabled instruction to the camera device, from
And start the camera device and gather the vedio data.
For example, the picture pick-up device includes camera a, after the picture pick-up device starts, the picture pick-up device supplies electricity to take the photograph
As head a, to cause camera a to be in holding state；When needing to use camera a, the picture pick-up device sends enabled instruction
Camera a is given, so as to control camera a to start and gather vedio data.
During step S101 is performed, the two field picture in the camera device often gathers the vedio data
While data, the triggering generation synchronizing signal, and the synchronizing signal is occurred to IMU, to cause IMU is received described
During synchronizing signal, start IMU and gather the motion track information.
Specifically, it can start in the frame image data during the camera device often gathers the vedio data
While exposure, the triggering generation synchronizing signal, and the synchronizing signal is sent to IMU, to cause IMU is received described
During synchronizing signal, start IMU and gather the motion track information.
In the embodiment of the present application, the synchronizing signal is specifically as follows frame synchronizing signal.
For example, the picture pick-up device also includes IMU, the picture pick-up device control camera a starts and gathers video image
During data, triggering one frame synchronizing signal of generation, and the frame synchronizing signal of generation is sent to IMU, receive institute in IMU
When stating synchronizing signal, start IMU and gather the motion track information, the motion track information includes the acceleration that IMU is gathered
Spend information and angular velocity information.
Specifically, when often gathering a frame image data due to the picture pick-up device, synchronizing signal can be sent to IMU,
During so that IMU often receiving a synchronizing signal, control IMU gathers corresponding motion track information, in this way, can control
IMU can collect the motion track information synchronous with per frame image data.
, can be with specifically, in order to further improve every two field picture of collection and the uniformity of synchronous motion track information
While the frame image data during the camera device often gathers the vedio data starts exposure, by the same of generation
Step signal is sent to IMU, and the motion track information synchronous with the frame image data is then gathered using IMU；Due to the shooting
Synchronizing signal is sent to IMU by device when starting exposure so that the time of the motion track information of IMU collections and the shooting
The time phase difference of one frame image data of device synchronous acquisition is shorter, so as to effectively improve every two field picture and the synchronization of collection
Motion track information uniformity.
In the embodiment of the present application, IMU can be nine axle IMU or six axle IMU, wherein, when IMU is nine axle IMU, nine axles
IMU can include six-axis accelerometer and three-axis gyroscope.
For example, when the picture pick-up device is the picture pick-up device, the picture pick-up device includes camera a and nine axle IMU,
When picture pick-up device control camera a is exposed in the first frame image data of collection, one frame synchronization letter of triggering generation
Number, and the frame synchronizing signal of generation is sent to nine axle IMU, and when nine axle IMU receive the frame synchronizing signal, control
Nine axle IMU gather acceleration information by six-axis accelerometer or gyroscope and three axle magnetic force collection gather angular velocity information, according to
The acceleration information and the angular velocity information, obtain the motion track information synchronous with the first frame image data；Similarly, according to
The second frame of secondary acquisition, the 3rd frame ... are until last frame view data and the motion track information synchronous with every frame image data.
In the embodiment of the present application, it can gather after the motion track information synchronous with a frame image data, stop in IMU
Gathered data is operated；Until when receiving the camera device and gathering the synchronizing signal sent during next frame image data, just after
The continuous collection motion track information synchronous with next frame image data, and gathered in the IMU collections motion track information
After；Next synchronizing signal is continued waiting for, starts collection synchronous motion track information when receiving synchronizing signal；Pass through
Such a mode, can further improve the uniformity of every two field picture of collection and its motion track information of synchronization, and reduction occurs
The probability of the motion track information dislocation of collection.
Next step S103 is performed, can be by the fortune of every frame image data of collection, corresponding timestamp and its synchronization
Dynamic trace information storage is into the caching of the picture pick-up device；Can also be by every frame image data of collection, corresponding time
Stamp and its storage of the motion track information of synchronization are arrived after the caching of the picture pick-up device, are then stored into depositing for the picture pick-up device
In reservoir or external memory storage；Can also be directly by the motion of every frame image data of collection, corresponding timestamp and its synchronization
Trace information is stored into the memory or external memory storage of the picture pick-up device.
Wherein, arrived by the motion track information storage of every frame image data of collection, corresponding timestamp and its synchronization
When in the caching of the picture pick-up device, the motion rail of every frame image data, corresponding timestamp and its synchronization can be effectively improved
The processing speed of mark information.
In specific implementation process, in order that the motion track information synchronous with view data must be collected, the shooting
The frame per second of device collection video image is less than the sample rate that IMU gathers the motion track information of the picture pick-up device, so so that
The speed of IMU gathered datas is more than the speed of the camera device gathered data so that the camera device gathers a two field picture
IMU, which has been gathered, before data are completed completes the motion track information synchronous with the frame image data, so as to precise acquisition and
The synchronous motion track information of view data.
Specifically, enter by the motion track information of every frame image data of collection, corresponding timestamp and its synchronization
Before row storage, the every frame image data corresponding time signed, gathered to every frame image data of collection is also needed
Stamp, is then stored again.Every frame image data of collection can for example be entered at once after every frame image data is collected
Row signature, in this way, the corresponding timestamp of every frame image data can be obtained；It can also be cached by every frame image data of collection
Afterwards, every frame image data of collection is signed at once, in this way, the corresponding timestamp of every frame image data can be obtained.
Specifically, can be whole by the motion track information of every frame image data of collection, corresponding timestamp and its synchronization
Stored after synthesizing one group of data.Every group of data can be made up of three fields, wherein, the first field is data head, is used for
Record the corresponding timestamp of a frame image data；Second field is used to record the synchronous movement locus of a frame image data；3rd
Field is used to record a frame image data；Because IMU is generally made up of multi-axial accelerometer and multiaxis gyroscope so that IMU is adopted
The motion track information of collection includes multigroup acceleration parameter and multigroup angular speed parameter, i.e. the motion track information bag of IMU collections
Multigroup parameter is contained.
Certainly, in every group of data storage or when being transmitted to other equipment, the shooting dress is added in every group of data
The parameter and the parameter of the inertia measurement sensor put；And every group of data can also add the corresponding rope of every frame image data
Fuse ceases.In this way, can be by the parameter of the camera device, the parameter of the inertia measurement sensor and per frame image data pair
In first field described at least one of index information answered data Ji Lu.
For example, as shown in Fig. 2 camera device (Camera) 20 is used to gather every frame image data in video data,
IMU30 is used to gather the motion track information synchronous with per frame image data, and every group of data are divided into three fields, with the first frame figure
Exemplified by corresponding first group of data 40, first group of data 40 includes the first field 401, the second field 402 and the 3rd field
403, wherein, the corresponding timestamp of the first frame image data and index letter that camera device 20 is gathered are recorded in the first field 401
Breath, the motion track information synchronous with camera a the first frame image datas of collection of the second field 402 record IMU30 collections is (more
Group IMU data)；The first frame image data that camera device 20 is gathered is recorded in 3rd field；Accordingly, the first frame image data
The structure of the corresponding every group of data of every frame image data afterwards is identical with the structure of first group of data 40.
In another embodiment of the application, when the picture pick-up device includes central processing unit, methods described also includes：
S301, while the synchronizing signal is sent to the inertia measurement sensor, the synchronizing signal is sent
To the central processing unit；
Specifically, the camera device by the synchronizing signal while IMU is sent to, also by the synchronizing signal
The central processing unit is sent to, to cause the center processing to receive every frame image data of the camera device collection
And its synchronous motion track information.
S302, when the central processing unit receives the synchronizing signal, the central processing unit reads IMU collections
The motion track information；
Specifically, when the central processing unit receives the synchronizing signal, the central processing unit is read immediately
The motion track information of IMU collections.
S303, the central processing unit by every frame image data of collection, corresponding timestamp and its synchronization motion rail
Mark information integration is into being stored after one group of data.
Specifically, step S303 executive agent is the central processing unit, and its embodiment is with specific reference to step
Rapid S103 embodiment.
In actual application, the central processing unit (Central in the picture pick-up device can be passed through
Processing Unit, abbreviation CPU) enabled instruction is sent to the camera device, the startup camera device starts shooting and regarded
Frequency image；The camera device start exposure collection view data while, by the frame synchronizing signal of generation be sent to IMU and
CPU, IMU, which are received, gathers the motion track information after the frame synchronizing signal；CPU is received after this synchronizing signal, is started
Actively read the motion track information of IMU collections；And every frame image data of the camera device collection is transferred to CPU,
CPU will open up one piece of motion track information cached for storing every frame image data and its synchronization, in caching per two field picture number
According to and its during synchronous motion track information, can be added in the signature of every frame image data and its motion track information of synchronization
Mark, mark information such as can be index.
Certainly, can also be only by the frame synchronization of generation while the camera device starts exposure collection view data
Signal is sent to IMU, and IMU is received and the motion track information is gathered after the frame synchronizing signal, and controls IMU actively to adopt
The motion track information of collection is transferred to CPU, and every frame image data of camera device collection is transferred to CPU, and CPU will
Open up one piece of motion track information cached for storing every frame image data and its synchronization, caching per frame image data and its
During the motion track information of synchronization, mark can be added in every frame image data and its signature of the motion track information of synchronization,
Mark information such as can be index.
Picture pick-up device in the embodiment of the present application can not only be applied to AR fields, can be applied in video capture, regards
Frequently it is live to wait in video field.In video field, prior art gathers video typically by picture pick-up device and then passed
It is defeated, and if picture pick-up device is imaged during mobile collection video such as moving camera shooting or unmanned plane in order to improve control
The posture of equipment, it is also desirable to ensure the data syn-chronization of camera device and IMU two kinds of equipment collection, and existing calculating be also by when
Between the method for comparison is stabbed to get synchronous view data and IMU data, and respectively to synchronous view data and IMU data
Because the data time of collection is different and signature time different its has error when carrying out signature addition timestamp so that pass through
The probability that error occur in the synchronous view data and IMU data that timestamp control methods is obtained is higher, and passes through the application institute
The method of the data syn-chronization of record can effectively improve the uniformity of synchronous view data and IMU data.
Based on technical concept same as mentioned above, set as shown in figure 3, the embodiment of the present invention additionally provides a kind of shooting
It is standby, including camera device 20, IMU30 and central processing unit 50, including：
Camera device 20 is used to gather video image, and every frame image data in collection vedio data is same
When, synchronizing signal is sent to IMU30；
IMU30, for when receiving the synchronizing signal that camera device 20 is sent, gathering the motion of the picture pick-up device
Trace information；
Central processing unit 50, for by every frame image data of the collection of acquisition, corresponding timestamp and its synchronization fortune
Dynamic rail mark information integration is into being stored after one group of data.
Preferably, camera device 20, the frame image data being also used in every collection vedio data starts to expose
While light, the synchronizing signal is sent to IMU30.
Preferably, when synchronizing signal is sent to IMU30 by camera device 20, methods described also includes：
The synchronizing signal is sent to central processing unit 50 by camera device 20；
When central processing unit 50 receives the synchronizing signal, the motion track information of IMU30 collections is read；
Central processing unit 50 is whole by the motion track information of every frame image data of collection, corresponding timestamp and its synchronization
Stored after synthesizing one group of data.
Preferably, in every group of data storage or when being transmitted to other equipment, camera device is added in every group of data
20 parameter and IMU30 parameter；Certainly, every group of data can also add the corresponding index information of every frame image data.
Preferably, the frame per second of the collection video image of camera device 20 is less than the motion rail that IMU30 gathers the picture pick-up device
The sample rate of mark information.
In actual application, as shown in figure 3, when shooting video image, central processing unit 50 sends startup first
Instruct to camera device 20 and IMU30；Camera device 20 and IMU30 are received after the enabled instruction, are carried out first initial
Change, then start itself and in holding state；Central processing unit 50 monitors that camera device 20 and IMU30 are in standby shape
After state, start collection video image and corresponding collection signal is sent to camera device 20；Camera device 20, which is received, to be adopted
Collect after signal, working condition is adjusted to from holding state, start to gather the first frame image data, gathering the first two field picture number
While according to being exposed, synchronizing signal is sent to central processing unit 50 and IMU30；When IMU30 receives the synchronizing signal,
Working condition is adjusted to from holding state, the motion track information (being represented in Fig. 3 with IMU data) of the picture pick-up device is gathered；
And after central processing unit 50 receives the synchronizing signal, that reads that IMU30 collects is synchronous with the first frame image data
Motion track information；And camera device 20 is when having gathered the first frame image data, during the first frame image data is sent to
Central processor 50；Now, central processing unit 50 receives the motion track information of the first frame image data and its synchronization, Ran Houke
To be signed to the data received, obtain corresponding timestamp, then by the first frame image data, corresponding timestamp and
Its synchronous motion track information is integrated into one group of data and cached.Wherein, IMU30 is being gathered and the first frame image data
After synchronous motion track information, stop data collection, the view data motion track information synchronous with its occur to reduce
Inconsistent probability；Every frame image data for subsequent acquisition performs collection the first frame image data identical operation successively,
So as to collect the video image.
Certainly, while camera device 20 starts exposure collection view data, only the frame synchronization of generation can also be believed
Number IMU30 is sent to, IMU30 is received and the motion track information is gathered after the frame synchronizing signal, and controls IMU30 actively
The motion track information of collection is transferred to central processing unit 50, and every frame image data transmission that camera device 20 is gathered
To central processing unit 50, central processing unit 50 will open up one piece of motion rail cached for storing every frame image data and its synchronization
Mark information, can be in every frame image data and its synchronization in the every frame image data of caching and its motion track information of synchronization
Motion track information signature so that obtain corresponding timestamp, then will per frame image data, corresponding timestamp and its same
The motion track information of step is integrated into one group of data and cached.
Beneficial effects of the present invention are as follows：
Based on above-mentioned technical proposal, due to often gathering the video image number in the camera device in the embodiment of the present application
While a frame image data in, the motion rail of the inertia measurement sensor acquisition operations person is controlled by synchronizing signal
Mark information；The motion track information of every frame image data of collection, corresponding timestamp and its synchronization is stored again, such as
This, data acquisition when just view data is synchronized with motion track information, so as to effectively reduce synchronous image
There is the probability of error with motion track information in data, and then it is consistent with IMU data to effectively increase synchronous view data
Property.
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
The invention is not limited in foregoing embodiment.The present invention, which is expanded to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
1. a kind of method of data synchronization, applied in the picture pick-up device for including camera device and inertia measurement sensor, it is special
Levy and be, including：
While the frame image data during the camera device often gathers video image, synchronizing signal is sent to described used
Property measurement sensor；
When the inertia measurement sensor receives the synchronizing signal, taken the photograph using described in inertia measurement sensor collection
As the motion track information of equipment；
The motion track information of every frame image data of collection, corresponding timestamp and its synchronization is integrated into one group of data laggard
Row storage.
2. the method as described in claim 1, it is characterised in that described often to gather the video image number in the camera device
While a frame image data in, synchronizing signal is sent to the inertia measurement sensor, specifically included：
, will be described while the frame image data during the camera device often gathers the vedio data starts exposure
Synchronizing signal is sent to the inertia measurement sensor.
3. method as claimed in claim 2, it is characterised in that when the picture pick-up device includes central processing unit, the side
Method also includes：
While the synchronizing signal is sent to the inertia measurement sensor, the synchronizing signal is sent to the center
Processor；
When the central processing unit receives the synchronizing signal, the central processing unit reads the inertia measurement sensor
The motion track information of collection；
The central processing unit integrates the motion track information of every frame image data of collection, corresponding timestamp and its synchronization
Stored after into one group of data.
4. method as claimed in claim 2, it is characterised in that in every group of data storage or when being transmitted to other equipment,
The parameter of the camera device and the parameter of the inertia measurement sensor are added in every group of data.
5. the method as described in claim 1, it is characterised in that by every frame image data of collection, corresponding timestamp and
Its synchronous motion track information is integrated into stored after one group of data before, methods described also includes：
Every frame image data of collection is signed, the corresponding timestamp of every frame image data gathered.
6. the method as described in any one of Claims 1 to 5, it is characterised in that the camera device gathers the frame of video image
Rate is less than the sample rate that the inertia measurement sensor gathers the motion track information of the picture pick-up device.
7. a kind of picture pick-up device, including camera device, inertia measurement sensor and central processing unit, it is characterised in that including：
The camera device is used to gather video image, and every frame image data in collection vedio data is same
When, synchronizing signal is sent to the inertia measurement sensor；
The inertia measurement sensor, for when receiving the synchronizing signal that the camera device is sent, being taken the photograph described in collection
As the motion track information of equipment；
The central processing unit, for by every frame image data of the collection of acquisition, corresponding timestamp and its synchronization motion
Trace information is stored after being integrated into one group of data.
8. picture pick-up device as claimed in claim 7, it is characterised in that the camera device, is also used in every collection video
While a frame image data in view data starts exposure, the synchronizing signal is sent to the inertia measurement and sensed
Device.
9. picture pick-up device as claimed in claim 8, it is characterised in that synchronizing signal is sent to described used by the camera device
During property measurement sensor, methods described also includes：
The synchronizing signal is sent to the central processing unit by the camera device；
When the central processing unit receives the synchronizing signal, the motion rail of the inertia measurement sensor collection is read
Mark information；
The central processing unit integrates the motion track information of every frame image data of collection, corresponding timestamp and its synchronization
Stored after into one group of data.
10. the picture pick-up device as described in any one of claim 7~9, it is characterised in that the camera device gathers video image
Frame per second be less than the sample rate that the inertia measurement sensor gathers the motion track information of the picture pick-up device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710474561.9A CN107172320A (en) | 2017-06-21 | 2017-06-21 | Method of data synchronization and picture pick-up device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710474561.9A CN107172320A (en) | 2017-06-21 | 2017-06-21 | Method of data synchronization and picture pick-up device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107172320A true CN107172320A (en) | 2017-09-15 |
Family
ID=59819849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710474561.9A Pending CN107172320A (en) | 2017-06-21 | 2017-06-21 | Method of data synchronization and picture pick-up device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107172320A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108645402A (en) * | 2018-03-30 | 2018-10-12 | 深圳清创新科技有限公司 | Camera shooting and inertia measurement sensing device, scene cut and pose computing system |
| CN109275048A (en) * | 2018-11-21 | 2019-01-25 | 北京猎户星空科技有限公司 | It is a kind of applied to the data processing method of robot, device, equipment and medium |
| CN110057352A (en) * | 2018-01-19 | 2019-07-26 | 北京图森未来科技有限公司 | A kind of camera attitude angle determines method and device |
| CN110174120A (en) * | 2019-04-16 | 2019-08-27 | 百度在线网络技术（北京）有限公司 | Method for synchronizing time and device for AR navigation simulation |
| CN110435880A (en) * | 2019-08-12 | 2019-11-12 | 深圳市道通智能航空技术有限公司 | A kind of collecting method, unmanned plane and storage medium |
| CN110609555A (en) * | 2019-09-20 | 2019-12-24 | 百度在线网络技术（北京）有限公司 | Method, apparatus, electronic device, and computer-readable storage medium for signal control |
| CN111200698A (en) * | 2018-11-19 | 2020-05-26 | 魔门塔(苏州)科技有限公司 | Remote multi-sensor multi-channel receiving method |
| CN111246088A (en) * | 2020-01-13 | 2020-06-05 | Oppo广东移动通信有限公司 | Anti-shake method, electronic device, and computer-readable storage medium |
| CN111355913A (en) * | 2018-12-21 | 2020-06-30 | 刘松林 | POS data and video data synchronization method and device |
| CN111371982A (en) * | 2018-12-25 | 2020-07-03 | 北京初速度科技有限公司 | Data synchronization method, processor and vehicle-mounted terminal |
| WO2020155596A1 (en) * | 2019-01-30 | 2020-08-06 | 影石创新科技股份有限公司 | Portable terminal and method thereof for acquiring gyroscope data to perform video processing |
| CN111629204A (en) * | 2020-06-30 | 2020-09-04 | 重庆盛泰光电有限公司 | Data synchronization method for camera module detection |
| CN111741293A (en) * | 2020-06-30 | 2020-10-02 | 重庆盛泰光电有限公司 | Data synchronization system for camera module detection |
| CN111813716A (en) * | 2019-11-11 | 2020-10-23 | 北京嘀嘀无限科技发展有限公司 | Multi-sensor data synchronization, electronic device, and storage medium |
| CN112000225A (en) * | 2020-08-25 | 2020-11-27 | 唯羲科技有限公司 | Positioning mapping optimization method and device and positioning mapping optimization chip |
| CN112770043A (en) * | 2019-11-06 | 2021-05-07 | 中国铁道科学研究院集团有限公司 | Bow net video acquisition device and bow net video processing system |
| CN112859659A (en) * | 2019-11-28 | 2021-05-28 | 初速度（苏州）科技有限公司 | Multi-sensor data acquisition method, device and system |
| CN113949807A (en) * | 2020-07-17 | 2022-01-18 | 杭州光粒科技有限公司 | Multi-channel data combination method and system and intelligent wearable device |
| WO2022226978A1 (en) * | 2021-04-30 | 2022-11-03 | 深圳市大疆创新科技有限公司 | Data processing method and device |
| US11902378B2 (en) | 2019-11-11 | 2024-02-13 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for data synchronization |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030056284A (en) * | 2001-12-28 | 2003-07-04 | 한국전자통신연구원 | Method and system for extraction a road institution body information using a vehicles |
| CN106027909A (en) * | 2016-07-05 | 2016-10-12 | 大连海事大学 | System and method for synchronously collecting shipboard videos based on MEMS inertial sensor and camera |
| CN106411493A (en) * | 2015-07-27 | 2017-02-15 | 腾讯科技（深圳）有限公司 | Streetscape acquisition data synchronization method, device and system |
| CN106546238A (en) * | 2016-10-26 | 2017-03-29 | 北京小鸟看看科技有限公司 | Wearable device and the method that user's displacement is determined in wearable device |
-
2017
- 2017-06-21 CN CN201710474561.9A patent/CN107172320A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030056284A (en) * | 2001-12-28 | 2003-07-04 | 한국전자통신연구원 | Method and system for extraction a road institution body information using a vehicles |
| CN106411493A (en) * | 2015-07-27 | 2017-02-15 | 腾讯科技（深圳）有限公司 | Streetscape acquisition data synchronization method, device and system |
| CN106027909A (en) * | 2016-07-05 | 2016-10-12 | 大连海事大学 | System and method for synchronously collecting shipboard videos based on MEMS inertial sensor and camera |
| CN106546238A (en) * | 2016-10-26 | 2017-03-29 | 北京小鸟看看科技有限公司 | Wearable device and the method that user's displacement is determined in wearable device |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10970873B2 (en) | 2018-01-19 | 2021-04-06 | Tusimple, Inc. | Method and device to determine the camera position and angle |
| CN110057352A (en) * | 2018-01-19 | 2019-07-26 | 北京图森未来科技有限公司 | A kind of camera attitude angle determines method and device |
| US11715232B2 (en) | 2018-01-19 | 2023-08-01 | Beijing Tusen Zhitu Technology Co., Ltd. | Method and device to determine the camera position and angle |
| CN108645402A (en) * | 2018-03-30 | 2018-10-12 | 深圳清创新科技有限公司 | Camera shooting and inertia measurement sensing device, scene cut and pose computing system |
| CN111200698A (en) * | 2018-11-19 | 2020-05-26 | 魔门塔(苏州)科技有限公司 | Remote multi-sensor multi-channel receiving method |
| CN111200698B (en) * | 2018-11-19 | 2022-05-13 | 魔门塔(苏州)科技有限公司 | Remote multi-sensor multi-channel receiving method |
| CN109275048A (en) * | 2018-11-21 | 2019-01-25 | 北京猎户星空科技有限公司 | It is a kind of applied to the data processing method of robot, device, equipment and medium |
| CN111355913A (en) * | 2018-12-21 | 2020-06-30 | 刘松林 | POS data and video data synchronization method and device |
| CN111371982A (en) * | 2018-12-25 | 2020-07-03 | 北京初速度科技有限公司 | Data synchronization method, processor and vehicle-mounted terminal |
| CN111371982B (en) * | 2018-12-25 | 2021-11-30 | 北京初速度科技有限公司 | Data synchronization method, processor and vehicle-mounted terminal |
| WO2020155596A1 (en) * | 2019-01-30 | 2020-08-06 | 影石创新科技股份有限公司 | Portable terminal and method thereof for acquiring gyroscope data to perform video processing |
| CN110174120A (en) * | 2019-04-16 | 2019-08-27 | 百度在线网络技术（北京）有限公司 | Method for synchronizing time and device for AR navigation simulation |
| CN110174120B (en) * | 2019-04-16 | 2021-10-08 | 百度在线网络技术（北京）有限公司 | Time synchronization method and device for AR navigation simulation |
| CN110435880B (en) * | 2019-08-12 | 2022-07-29 | 深圳市道通智能航空技术股份有限公司 | Data acquisition method, unmanned aerial vehicle and storage medium |
| CN110435880A (en) * | 2019-08-12 | 2019-11-12 | 深圳市道通智能航空技术有限公司 | A kind of collecting method, unmanned plane and storage medium |
| CN110609555A (en) * | 2019-09-20 | 2019-12-24 | 百度在线网络技术（北京）有限公司 | Method, apparatus, electronic device, and computer-readable storage medium for signal control |
| CN112770043B (en) * | 2019-11-06 | 2022-09-13 | 中国铁道科学研究院集团有限公司 | Bow net video acquisition device and bow net video processing system |
| CN112770043A (en) * | 2019-11-06 | 2021-05-07 | 中国铁道科学研究院集团有限公司 | Bow net video acquisition device and bow net video processing system |
| CN111813716A (en) * | 2019-11-11 | 2020-10-23 | 北京嘀嘀无限科技发展有限公司 | Multi-sensor data synchronization, electronic device, and storage medium |
| US11902378B2 (en) | 2019-11-11 | 2024-02-13 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for data synchronization |
| CN112859659A (en) * | 2019-11-28 | 2021-05-28 | 初速度（苏州）科技有限公司 | Multi-sensor data acquisition method, device and system |
| CN111246088A (en) * | 2020-01-13 | 2020-06-05 | Oppo广东移动通信有限公司 | Anti-shake method, electronic device, and computer-readable storage medium |
| CN111741293A (en) * | 2020-06-30 | 2020-10-02 | 重庆盛泰光电有限公司 | Data synchronization system for camera module detection |
| CN111629204A (en) * | 2020-06-30 | 2020-09-04 | 重庆盛泰光电有限公司 | Data synchronization method for camera module detection |
| CN113949807A (en) * | 2020-07-17 | 2022-01-18 | 杭州光粒科技有限公司 | Multi-channel data combination method and system and intelligent wearable device |
| CN112000225B (en) * | 2020-08-25 | 2021-06-25 | 唯羲科技有限公司 | Positioning mapping optimization method and device and positioning mapping optimization chip |
| CN112000225A (en) * | 2020-08-25 | 2020-11-27 | 唯羲科技有限公司 | Positioning mapping optimization method and device and positioning mapping optimization chip |
| WO2022226978A1 (en) * | 2021-04-30 | 2022-11-03 | 深圳市大疆创新科技有限公司 | Data processing method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107172320A (en) | Method of data synchronization and picture pick-up device | |
| CN105493496B (en) | A kind of method for processing video frequency, device and picture system | |
| US8989441B2 (en) | Data acquisition method and device for motion recognition, motion recognition system and computer readable storage medium | |
| JP6204585B2 (en) | Applying video stabilization to multimedia clips | |
| TW201222478A (en) | Tracking system and method for image object region and computer program product thereof | |
| CN104717426B (en) | A kind of multiple-camera video synchronization device and method based on external sensor | |
| CN106331464B (en) | Filming control method, imaging control device and user equipment | |
| CN110139066A (en) | A kind of Transmission system of sensing data, method and apparatus | |
| CN102184549A (en) | Motion parameter determination method and device and motion auxiliary equipment | |
| CN109076263B (en) | Video data processing method, device, system and storage medium | |
| WO2017166725A1 (en) | Photographing control method, device, and system | |
| CN108988974B (en) | Time delay measuring method and device and system for time synchronization of electronic equipment | |
| JP2021525009A (en) | Electronic image stabilization method, image acquisition device and mobile platform | |
| CN108592919B (en) | Drawing and localization method, device, storage medium and terminal device | |
| CN104792327B (en) | A kind of movement locus control methods based on mobile device | |
| CN105892668B (en) | Apparatus control method and device | |
| CN107370941A (en) | A kind of information processing method and electronic equipment | |
| CN113395454A (en) | Anti-shake method and device for image shooting, terminal and readable storage medium | |
| CN105472231B (en) | Control method, image collecting device and electronic equipment | |
| WO2018024239A1 (en) | Hybrid image stabilization system | |
| CN113873100B (en) | Video recording method, device, electronic equipment and storage medium | |
| CN108364336A (en) | Method and system based on three-dimensional animation motion capture virtual camera stabilization | |
| CN109302567A (en) | Camera image low latency synchronization system and image low latency synchronous method | |
| WO2018121794A1 (en) | Control method, electronic device and storage medium | |
| CN110099206A (en) | Photographic method, robot and computer readable storage medium based on robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170915 |