CN108645402A - Camera shooting and inertia measurement sensing device, scene cut and pose computing system - Google Patents
Camera shooting and inertia measurement sensing device, scene cut and pose computing system Download PDFInfo
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- CN108645402A CN108645402A CN201810295249.8A CN201810295249A CN108645402A CN 108645402 A CN108645402 A CN 108645402A CN 201810295249 A CN201810295249 A CN 201810295249A CN 108645402 A CN108645402 A CN 108645402A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to camera shootings and inertia measurement sensing device and its scene cut module based on the sensing device and pose computing module, sensing device includes photographing module, inertia measuring module and clock module, photographing module connects clock module, inertia measuring module connects clock module, clock module is used to send trigger signal to photographing module and inertia measuring module, trigger signal includes the first trigger signal and the second trigger signal, first trigger signal is for triggering photographing module, second trigger signal is for triggering inertia measuring module, the frequency of second trigger signal is the integral multiple of the frequency of the first trigger signal.Above-mentioned camera shooting can make the output of photographing module and inertia measuring module synchronous on a certain specific time with inertia measurement sensing device, can temporally and spatially the output of photographing module and inertia measuring module be synchronized and be calibrated.Have the advantages that reliability is high relative to traditional camera shooting and the discrete sensor of inertia measurement.
Description
Technical field
The present invention relates to field of sensing technologies, more particularly to a kind of camera shooting and inertia measurement sensing device, scene cut
With pose computing system.
Background technology
With the rapid development of science and technology, mobile robot and the technologies such as unmanned it is increasingly mature, sensor obtains
To being widely applied and develop.Image sensor can utilize optical element and imaging device to obtain external environment image letter
Breath, is the main source of machine vision system information, and inertial sensor mainly applies to the side such as motion measurement and navigator fix
Face, the navigation system constituted with inertial sensor using camera shooting can provide whole navigational parameters such as position, speed and posture,
There is good advantage in terms of navigator fix.
However, traditional camera shooting with inertial sensor is respectively perceived as discrete sensor, each sensor
The information of collection is asynchronous in time, needs to carry out time calibration when collecting information；And it is difficult between multiple sensors
It cooperates, information is difficult to be managed collectively, and spatial calibration cannot synchronize progress, heavy workload, precision when being merged in the later stage
It is low.Therefore, in traditional navigation system is constituted, camera shooting and inertial sensor the shortcomings that there are poor reliability.
Invention content
Based on this, it is necessary to for the low problem of traditional convenience, provide a kind of camera shooting and inertia measurement sensing device,
Scene cut and pose computing system.
A kind of camera shooting and inertia measurement sensing device, the sensing device includes：Photographing module, inertia measuring module and when
Clock module, the photographing module connect the clock module, and the inertia measuring module connects the clock module, the clock
Module sends trigger signal, the triggering for providing length of a game's axis, to the photographing module and the inertia measuring module
Signal includes the first trigger signal and the second trigger signal, and first trigger signal is described for triggering the photographing module
For second trigger signal for triggering the inertia measuring module, the frequency of second trigger signal is first trigger signal
Frequency integral multiple；The photographing module is used to synchronize Image Acquisition according to first trigger signal, obtains and defeated
Go out to carry the image data of corresponding timestamp；The inertia measuring module is used for being synchronized according to second trigger signal
Property acquisition, obtain and export the inertial parameter with corresponding timestamp.
In one embodiment, the sensing device further includes microprocessor, and the photographing module connects the microprocessor
Device, the inertia measuring module connect the microprocessor, and the microprocessor is believed for receiving described triggered with described first
Number synchronous image and the inertial parameter synchronous with second trigger signal.
In one embodiment, when first trigger signal and the second trigger signal trigger simultaneously, the microprocessor
The inertia that device synchronizes image synchronous with first trigger signal described in reception and described and second trigger signal
Parameter is merged.
In one embodiment, the inertial parameter includes angular speed and acceleration, and the microprocessor is by the institute of reception
State the image synchronous with first trigger signal and the angular speed synchronized with second trigger signal and acceleration into
After row fusion, image procossing is carried out, RGBD images is obtained and exports.
In one embodiment, the photographing module is monocular or more mesh cameras.
In one embodiment, the clock module is GPS clock module.
In one embodiment, the photographing module is synchronizing Image Acquisition according to first trigger signal, defeated
Go out before the image synchronous with first trigger signal, is additionally operable to carry out parameter calibration according to the camera shooting calibrating parameters of reception.
In one embodiment, the inertia measuring module is adopted synchronizing inertia according to second trigger signal
Collection before exporting the inertial parameter synchronous with second trigger signal, is additionally operable to be carried out according to the measurement calibrating parameters of reception
Parameter calibration.
A kind of scene cut system, which is characterized in that sensed with inertia measurement including the camera shooting described in above-mentioned any one
Device further includes scene cut module, and the scene cut module connects the microprocessor.
A kind of pose computing system, which is characterized in that sensed with inertia measurement including the camera shooting described in above-mentioned any one
Device further includes pose computing module, and the pose computing module connects the microprocessor.
Above-mentioned camera shooting and inertia measurement sensing device are triggered photographing module and are used to respectively by clock with fixed frequency
Property measurement module, according to clock module to inertia measuring module send trigger signal frequency and to photographing module send triggering letter
Number frequency between relationship so that photographing module is synchronous on a certain specific time with the output of inertia measuring module, and
Photographing module and inertia measuring module cooperate, can be temporally and spatially to photographing module and inertia measuring module
Output is synchronized and is calibrated, and has the characteristics that precision is high, response is fast and calculates simple.It is surveyed relative to traditional camera shooting and inertia
Measuring discrete sensor has the advantages that reliability is high.
Description of the drawings
Fig. 1 is the structural schematic diagram of camera shooting and inertia measurement sensing device in an embodiment；
Fig. 2 is the structural schematic diagram of camera shooting and inertia measurement sensing device in another embodiment；
Fig. 3 is an embodiment Scene segmenting system structural schematic diagram；
Fig. 4 is pose computing system structural schematic diagram in an embodiment.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.Keep the understanding to the disclosure more saturating on the contrary, purpose of providing these embodiments is
It is thorough comprehensive.
Referring to Fig. 1, a kind of camera shooting and inertia measurement sensing device, including clock module 100, photographing module 200 and used
Property measurement module 300, photographing module 200 connect clock module 100, inertia measuring module 300 connect clock module 100, clock
Module sends trigger signal, trigger signal packet for providing length of a game's axis, to photographing module 200 and inertia measuring module 300
The first trigger signal and the second trigger signal are included, the first trigger signal is used for triggering institute's photographing module 200, the second trigger signal
In triggering inertia measuring module 300, the frequency of the second trigger signal is the integral multiple of the frequency of the first trigger signal；Photographing module
200, for synchronizing Image Acquisition according to the first trigger signal, obtain and export the image data with corresponding timestamp；It is used
Property measurement module 300 be used for according to the second trigger signal synchronize inertia acquisition, obtain and export with corresponding timestamp
Inertial parameter.
Specifically, integration trigger device on clock module 100, the length of a game's axis provided according to clock module 100 is to taking the photograph
As module 200 and inertia measuring module 300 are triggered respectively, trigger signal is equivalent to a switching signal, often receives one
Secondary trigger signal, photographing module 200 and inertia measuring module 300 carry out the acquisition of a data.Photographing module 200 includes camera lens
And image sensor, when carrying out Image Acquisition, the camera lens of photographing module 200 receives the reflected light of the object of being acquired
Line makes it focus on the light-receiving surface of image sensor, then converts optical signals to electric signal, photosignal by image sensor
It is very faint, it need to be amplified by pre-arcing road, be handled and adjusted using various circuits, obtained and institute's acquisition target phase
Corresponding image data.Inertia measuring module 300 is the device for measuring object three-axis attitude angle (or angular speed) and acceleration.
Three uniaxial accelerometers and three uniaxial gyros are generally comprised, accelerometer detection object is vertical in carrier coordinate system unification and independence
The acceleration signal of three axis, and angular velocity signal of the gyro detection carrier relative to navigational coordinate system, measure object in three-dimensional space
Between in angular speed and acceleration.First trigger signal triggers photographing module 200 with certain frequency, photographing module
200, which often receive primary first trigger signal that receives, carries out an Image Acquisition, when according to the overall situation of the offer of clock module 100
Countershaft, image of the output with correspondent time；Second trigger signal triggers the integral multiple of frequency to used with the first trigger signal
Property measurement module 300 triggered, inertia measuring module 300 often receives second trigger signal and carries out an inertial parameter
Acquisition, according to clock module 100 provide length of a game's axis, output with correspondent time inertial parameter.First triggering
Signal and the frequency relation of the second trigger signal are：
fI=mfC
Wherein, fIFor the frequency of the second trigger signal, fCFor the frequency of the first trigger signal, m is the integer more than or equal to 1.
In one embodiment, with 2 times that the triggering frequency of the second trigger signal is the first trigger signal frequency, first touches
It signals to trigger photographing module 200 to trigger frequency 50Hz, the second trigger signal triggers inertia measurement mould to trigger frequency 100Hz
For block 300, i.e., photographing module 200 carries out Image Acquisition with period 0.02S, and inertia measuring module 300 is carried out with period 0.01S
Inertial parameter acquires, and being often separated by the first trigger signals of 0.01S and the second trigger signal will trigger simultaneously, 200 He of photographing module
Inertia measuring module 300 carries out the acquisition of image and inertial parameter respectively on same time point.By using same clock mould
Block respectively triggers photographing module 200 and inertia measuring module 300 so that photographing module 200 and inertia measuring module 300
Image and inertial parameter with identical time stamp can be exported on sometime point, it is convenient over time and space to image
Calibration is synchronized with inertial parameter, has the advantages that precision is high, response is fast and calculates simple.
Referring to Fig. 2, in one embodiment, sensing device further includes microprocessor 400, photographing module 200 connects micro-
Processor 400, inertia measuring module 300 connect microprocessor 400, and microprocessor 400 is same with the first trigger signal for receiving
The image of step and the inertial parameter synchronous with the second trigger signal.
Specifically, photographing module 200 receive the first trigger signal carry out Image Acquisition and export after, by output with
The image that first trigger signal synchronizes is sent to microprocessor 400 and is handled and utilized, likewise, inertia measuring module 300
After receiving the progress inertial parameter acquisition of the second trigger signal and exporting, by the inertia synchronous with the second trigger signal of output
Parameter sends big microprocessor 400 and is handled and utilized.It is appreciated that in one embodiment, microprocessor 400 is received
All images for being acquired by photographing module 200 of image, the inertial parameter received acquires by inertia measuring module 300
All inertial parameters, in another embodiment, microprocessor 400 can also only receive image with identical time stamp and
Inertial parameter, concrete condition can be adjusted according to practical service environment.
In one embodiment, when the first trigger signal and the second trigger signal trigger simultaneously, microprocessor 400 will connect
The image synchronous with the first trigger signal received and the inertial parameter synchronized with the second trigger signal are merged.
Specifically, it refers to being touched in sometime point upper existing first that the first trigger signal and the second trigger signal trigger simultaneously
Signalling triggers photographing module 200, also has the second trigger signal to trigger inertia measuring module 300, likewise,
With 2 times that the triggering frequency of the second trigger signal is the first trigger signal frequency, the first trigger signal is touched with triggering frequency 50Hz
Photographing module 200 is sent out, the second trigger signal is for triggering frequency 100Hz triggering inertia measuring modules 300, photographing module 200
An Image Acquisition is carried out every 0.02S, inertia measuring module carries out the acquisition of an inertial parameter every 0.01s；Then exist
On 0.02S, 0.04S, 0.06S equi-time point, existing first trigger signal triggers photographing module 200, also has second to touch
Signalling inertia measuring module 300 is triggered, microprocessor 400 respectively by time point image and inertial parameter carry out
Fusion.
Further, in one embodiment, inertial parameter includes angular speed and acceleration, and microprocessor 400 will receive
The image synchronous with the first trigger signal and after the angular speed and acceleration that synchronize with the second trigger signal merged, into
Row image procossing obtains RGBD (Red Green Blue Depth) images and exports.
Specifically, fusion refer to by multi-source channel the collected image data about same target pass through image procossing
With computer technology etc., the advantageous information in each self-channel can be extracted to greatest extent, finally integrate the image at high quality.
In the present embodiment, what photographing module 200 acquired arrives the coloured image synchronous with the first trigger signal, and inertia measuring module 300 connects
It receives the second trigger signal and carries out inertial parameter acquisition, obtained inertial parameter includes angular speed and acceleration, by obtained angle speed
The microprocessor 400 that degree and acceleration are sent and when the having identical of the transmission of photographing module 200 with the reception of microprocessor 400
Between the image that stabs merged, obtain the RGBD images with acceleration and angular speed information and export.It is appreciated that camera shooting mould
Block 200 can also carry out the acquisition of black white image according to the first trigger signal of reception, will collect and the first trigger signal
Synchronous black white image is transferred to microprocessor 400, does not have identical time stamp image for what photographing module 200 acquired, can
To collect, it is used in the follow-up process, such as verifying the RGBD images after fusion, it can also be follow-up
It before processing, directly abandons, should specifically be selected according to actual conditions.Pass through angular velocity and acceleration information and image
It is merged, the RGBD images with acceleration and angular speed information can be obtained, convenient for the utilization in subsequent process.
In one embodiment, photographing module 200 is synchronizing Image Acquisition according to the first trigger signal, output and the
Before the image that one trigger signal synchronizes, it is additionally operable to carry out parameter calibration according to the camera shooting calibrating parameters of reception.
Specifically, camera shooting calibrating parameters include internal reference and outer ginseng, and parameter mark is being carried out according to the camera shooting calibrating parameters of reception
Periodically, internal reference and outer ginseng are demarcated respectively.Further, in one embodiment, photographing module 200 is monocular or more mesh
Camera.The internal reference of monocular or more mesh cameras includes focal length and principal point, and outer ginseng includes camera coordinate system and world coordinate system
Between spin matrix and translation matrix, when carrying out internal reference and outer ginseng and demarcating, focusing and principal point and camera seat respectively
Rotation translation matrix between mark system and world coordinate system is demarcated.Monocular or more mesh cameras receive clock module 100
After the first trigger signal sent, while carrying out Image Acquisition and export, exports the internal reference of calibration and believe with the first triggering
Number synchronous real-time outer ginseng.By the way that the real-time outer ginseng synchronous with trigger signal is demarcated and exported to internal reference and outer ginseng, it is convenient for
Microprocessor 400 is merged and is handled to the image and inertial parameter of reception.
In one embodiment, inertia measuring module 300 is synchronizing inertia acquisition, output according to the second trigger signal
Before the inertial parameter synchronous with the second trigger signal, it is additionally operable to carry out parameter calibration according to the measurement calibrating parameters of reception.
Specifically, it includes internal reference and outer ginseng to measure calibrating parameters, and parameter mark is being carried out according to the measurement calibrating parameters of reception
Periodically, internal reference and outer ginseng are demarcated respectively.Further, the internal reference of inertia measuring module 300 includes temperature drift and upper
Electric drift, outer ginseng include the spin matrix and translation matrix between inertia measuring module local Coordinate System and world coordinate system.It is used
Property measurement module 300 receive the second trigger signal that clock module 100 is sent and carry out the acquisition of inertial parameter and while output,
With the internal reference of output calibration and the real-time outer ginseng synchronous with the second trigger signal.By the way that internal reference and outer ginseng are demarcated and are exported
The real-time outer ginseng synchronous with trigger signal, is merged and is handled to the image and inertial parameter of reception convenient for microprocessor 400.
In one embodiment, clock module is GPS (Global Positioning System, global positioning system)
Clock module.
Specifically, GPS clock is a kind of clock module developed based on latest model GPS high accuracy positioning time service modules, energy
Enough temporal information formats for meeting stipulations according to user demand output, to complete sync identification service.GPS clock is broadly divided into
Two classes, one kind are GPS time service instruments, mainly export time scale information, including 1PPS (Pulse Per Second, pulse per second (PPS)) and TOD
(Time Of Day, temporal information) information；In addition one kind is GPS synchronised clocks, and the latter's output tames OCXO using satellite-signal
The high stable frequency letter that (Oven ControlledCrystal Oscillator, constant-temperature crystal oscillator) or rubidium clock obtain
The more stably timing signal of breath and local recovery.GPS synchronised clocks make crystalline substance due to constant-temperature crystal oscillator precise temperature control
Body running has the advantages that precision height and stability are strong in the temperature of zero temperature coefficient point.It is appreciated that clock module 100
Can also be other types of clock, such as CDMA time synchronization clocks, as long as the transmission of trigger signal can be completed.
Above-mentioned camera shooting and inertia measurement sensing device by clock with fixed frequency come trigger respectively photographing module 200 and
Inertia measuring module 300, according to clock module 100 to inertia measuring module 300 send trigger signal frequency and to camera shooting mould
Block 200 sends the relationship between the frequency of trigger signal so that the output of photographing module 200 and inertia measuring module 300 is at certain
It is synchronous on one specific time, and photographing module 200 cooperates with inertia measuring module 300, it can in time and space
On the output of photographing module 200 and inertia measuring module 300 is synchronized and is calibrated, have that precision is high, response is fast and calculates
Simple feature.Have the advantages that reliability is high relative to traditional camera shooting and the discrete sensor of inertia measurement.
Referring to Fig. 3, a kind of scene cut system, includes camera shooting and the inertia measurement sensing device of above-mentioned any one,
Further include scene cut module 500, scene cut module 500 connects microprocessor 400.
Specifically, camera shooting and the microprocessor 400 of inertia measurement sensing device receive the camera shooting mould with identical time stamp
Inertial parameter that 200 acquired image of block and inertia measuring module 300 are acquired and after carrying out fusion treatment, obtains RGBD
Image is sent to scene cut module 500 and is further processed.Scene cut module 500 is based on scene cut network, by institute
In the RGBD image scene segmentation networks of reception, wherein at least one layer of convolutional layer in scene cut network utilizes scale regression
The scale coefficient of layer output zooms in and out processing to the first convolution block of the convolutional layer, obtains the second convolution block, then utilizes the
Two convolution blocks carry out the convolution algorithm of the convolutional layer, obtain the output of the convolutional layer as a result, scale regression layer is scene cut net
The intermediate convolutional layer of network exports scene cut result corresponding with image to be split.
Above-mentioned scene cut system, camera shooting are triggered by clock with fixed frequency respectively with inertia measurement sensing device
Photographing module 200 and inertia measuring module 300 send the frequency of trigger signal according to clock module 100 to inertia measuring module 300
Rate and to photographing module 200 send trigger signal frequency between relationship so that photographing module 200 and inertia measuring module
300 output is synchronous on a certain specific time, microprocessor 400 receive image with identical time stamp and inertial parameter into
It is sent to scene cut module 500 after row fusion treatment and carries out corresponding scene cut processing so that and photographing module
200, it cooperates between inertia measuring module 300, microprocessor 400 and scene cut module 500, it can be in time and empty
Between on the output of photographing module 200 and inertia measuring module 300 is synchronized and is calibrated, be effectively improved image scene point
The treatment effeciency cut.
Referring to Fig. 4, a kind of pose computing system, includes camera shooting and the inertia measurement sensing device of above-mentioned any one,
Further include pose computing module 600, pose computing module 600 connects microprocessor 400.
Specifically, camera shooting and the microprocessor 400 of inertia measurement sensing device receive the camera shooting mould with identical time stamp
Inertial parameter that 200 acquired image of block and inertia measuring module 300 are acquired and after carrying out fusion treatment, obtains RGBD
Image is sent to pose computing module 600 and is further processed.Pose computing module 600 receives what microprocessor 400 was sent
After RGBD images, description is calculated using BRIEF algorithms, characteristic matching is carried out to image, obtain the current of photographing module 200
Pose carries out Kalman filtering to the current pose of photographing module 200 later, obtains vision pose, then obtain inertia measurement
The inertial parameter that module 300 is generated in three dimensions, i.e. acceleration and angular speed value, and acceleration and angular speed value is accumulated
Partite transport is calculated, and inertial pose is obtained, and to obtaining carrying out Kalman's fusion to vision pose and inertial pose, is obtained pose and is calculated knot
Fruit.
Above-mentioned pose computing system, camera shooting are triggered by clock with fixed frequency respectively with inertia measurement sensing device
Photographing module 200 and inertia measuring module 300 send the frequency of trigger signal according to clock module 100 to inertia measuring module 300
Rate and to photographing module 200 send trigger signal frequency between relationship so that photographing module 200 and inertia measuring module
300 output is synchronous on a certain specific time, microprocessor 400 receive image with identical time stamp and inertial parameter into
It is sent to pose computing module 600 after row fusion treatment and carries out corresponding pose calculation processing so that and photographing module
200, it cooperates between inertia measuring module 300, microprocessor 400 and pose computing module 600, it can be in time and empty
Between on the output of photographing module 200 and inertia measuring module 300 is synchronized and is calibrated, be effectively improved pose calculating
Treatment effeciency.
Further, camera shooting can also be applied to target analyte detection with inertia measurement sensing device, scene rebuilding moves
It robot and unmanned etc. needs to carry out on the system or equipment of image perception.In one embodiment, with mobile robot
For, mobile robot needs in due course carry out external environment to perceive to be acted accordingly, is surveyed by camera shooting and inertia
It measures the clock of sensing device and photographing module 200 and inertia measuring module 300 is triggered with fixed frequency respectively, according to clock mould
Block 100 is sent to the frequency of the transmission trigger signal of inertia measuring module 300 and to photographing module 200 between the frequency of trigger signal
Relationship so that photographing module 200 is synchronous on a certain specific time with the output of inertia measuring module 300, and images mould
Block 200 cooperates with inertia measuring module 300, can be temporally and spatially to photographing module 200 and inertia measurement mould
The output of block 300 is synchronized and is calibrated.It is perceived using discrete sensor relative to traditional mobile robot, it is above-mentioned
Camera shooting has the advantages that precision is high, response is fast and it is simple to calculate with inertia measurement sensing device, is surveyed by above-mentioned camera shooting and inertia
Amount sensing device can improve mobile robot scene cut, pose calculate etc. treatment effeciency and accuracy.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of camera shooting and inertia measurement sensing device, which is characterized in that the sensing device includes：Clock module, camera shooting mould
Block and inertia measuring module, the photographing module connect the clock module, and the inertia measuring module connects the clock mould
Block,
The clock module sends triggering letter for providing length of a game's axis, to the photographing module and the inertia measuring module
Number, the trigger signal includes the first trigger signal and the second trigger signal, and first trigger signal is for triggering described take the photograph
As module, for second trigger signal for triggering the inertia measuring module, the frequency of second trigger signal is described
The integral multiple of the frequency of first trigger signal；
The photographing module is used to according to first trigger signal synchronize Image Acquisition, obtain and export with it is corresponding when
Between the image data stabbed；
The inertia measuring module is used to synchronize data acquisition according to second trigger signal, obtains and exports with phase
Answer the inertial parameter of timestamp.
2. camera shooting according to claim 1 and inertia measurement sensing device, which is characterized in that the sensing device further includes
Microprocessor, the photographing module connect the microprocessor, and the inertia measuring module connects the microprocessor,
The microprocessor is used to receive the image synchronous with first trigger signal and described and described second triggering
The inertial parameter that signal synchronizes.
3. camera shooting according to claim 2 and inertia measurement sensing device, which is characterized in that when first trigger signal
When being triggered simultaneously with the second trigger signal, the microprocessor is by image synchronous with first trigger signal described in reception
It is merged with the inertial parameter synchronous with second trigger signal.
4. camera shooting according to claim 3 and inertia measurement sensing device, which is characterized in that the inertial parameter includes angle
Speed and acceleration, the microprocessor by image synchronous with first trigger signal described in reception and it is described with it is described
After the angular speed and acceleration that second trigger signal synchronizes are merged, image procossing is carried out, RGBD images is obtained and exports.
5. camera shooting according to claim 1 and inertia measurement sensing device, which is characterized in that the photographing module is monocular
Or more mesh cameras.
6. camera shooting according to claim 1 and inertia measurement sensing device, which is characterized in that the clock module is GPS
Clock module.
7. camera shooting according to claim 1 and inertia measurement sensing device, which is characterized in that the photographing module is in basis
First trigger signal synchronizes Image Acquisition, before exporting the image synchronous with first trigger signal, is additionally operable to
Parameter calibration is carried out according to the camera shooting calibrating parameters of reception.
8. camera shooting according to claim 1 and inertia measurement sensing device, which is characterized in that the inertia measuring module exists
Synchronize inertia acquisition according to second trigger signal, the output inertial parameter synchronous with second trigger signal it
Before, it is additionally operable to carry out parameter calibration according to the measurement calibrating parameters of reception.
9. a kind of scene cut system, which is characterized in that including described in claim 1-8 any one camera shooting and inertia measurement
Sensing device further includes scene cut module, and the scene cut module connects the microprocessor.
10. a kind of pose computing system, which is characterized in that surveyed with inertia including the camera shooting described in claim 1-8 any one
Sensing device is measured, further includes pose computing module, the pose computing module connects the microprocessor.
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| 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 |
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| CN111405139B (en) * | 2020-03-26 | 2023-10-17 | 轻客小觅机器人科技(成都)有限公司 | Time synchronization method, system, visual mileage system and storage medium |
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