CN112485806A - Laser radar and camera time synchronization system and method - Google Patents
Laser radar and camera time synchronization system and method Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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Abstract
The invention discloses a laser radar and camera time synchronization system and a method, wherein the laser radar is provided with a time receiving recovery module and a point cloud generation module, the time receiving recovery module receives a satellite time signal and recovers standard time, and the point cloud generation module generates and outputs laser point cloud data with a timestamp to a programmable logic device according to the standard time; the visible light camera is provided with a time synchronization protocol module I and an image generation module, the image generation module finishes image acquisition and output according to the trigger signal, and the image output has a timestamp; the laser sampling device further comprises a programmable logic device, and the programmable logic device is provided with a local time recovery module, a time synchronization protocol module II, a laser sampling period and phase calculation module. The invention not only realizes the time synchronization of the laser radar, the programmable logic device and the visible light camera, but also completes the frequency and phase synchronization of the laser point cloud data and the image data, and improves the data fusion quality.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a driverless sensor technology.
Background
In the field of unmanned driving, multi-sensor (typically laser and camera) data fusion is required. However, there is no interface for time synchronization (synchronization here includes data sampling frequency and phase synchronization) between the conventional sensors, which results in poor quality and even failure of the final data fusion. Especially when the sampling frequency is low and the moving speed of the detected target is fast, the performance problem caused by the time synchronization of multiple sensors is particularly obvious.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a laser radar and camera time synchronization system and method, which can realize the time synchronization of the laser radar and the camera and improve the data fusion quality.
In order to solve the technical problems, the invention adopts the following technical scheme: a lidar and camera time synchronization system comprising:
laser radar: the laser radar is provided with a time receiving and recovering module and a point cloud generating module, the time receiving and recovering module receives satellite time signals, recovers standard time and outputs the standard time to the point cloud generating module, and meanwhile, standard time interface signals are output to the programmable logic device, and the point cloud generating module generates and outputs laser point cloud data with time stamps to the programmable logic device according to the standard time;
visible light camera: the visible light camera is provided with a time synchronization protocol module I and an image generation module, the image generation module finishes image acquisition and output according to a trigger signal, and the image output has a time stamp; the programmable logic device comprises: the programmable logic device is provided with a local time recovery module, a time synchronization protocol module II and a laser sampling period and phase calculation module, the local time recovery module is used for realizing the time synchronization of the programmable logic device and the laser radar, the time synchronization protocol module II is matched with the time synchronization protocol module I to realize the time synchronization of the programmable logic device and the visible light camera, the laser sampling period and phase calculation module extracts timestamp information from laser point cloud data, calculates the period and the phase of the laser sampling, outputs a trigger signal to the visible light camera according to the period and the phase of the laser sampling, triggers the visible light camera to output an image with a timestamp, and completes the synchronization of the laser point cloud data and the output frequency and the phase of the image.
Preferably, the local time recovery module receives a standard time interface signal sent by the lidar and achieves time synchronization between the programmable logic device and the laser by maintaining a local time counter.
Preferably, the laser sampling period and phase calculation module calculates a smoothed laser radar sampling time sequence in a digital phase-locked loop manner, and the visible light camera generates the trigger signal by using the sampling time sequence in a continuous trigger mode.
Preferably, the programmable logic device is provided with a time delay elimination module for calculating time delay between a time stamp of the laser point cloud data and a time stamp of image output, the time delay elimination module obtains an average value delta of the time delay through multiple measurements, and eliminates the time delay delta by adjusting the phase of the trigger signal when the trigger signal is generated.
Preferably, when the visible light camera is in the trigger calibration mode, the trigger signal is generated once when the delay Δ is greater than the set threshold.
Preferably, the laser sampling period and phase calculation module calculates the period and phase of the laser sampling by a sliding window or digital phase-locked loop method.
Preferably, the satellite time service signal adopts a GPS or a Beidou time service, and the standard time interface signal is 1 pps/Tod.
Preferably, the programmable logic device is an FPGA or a CPLD.
The invention also provides a time synchronization method of the laser radar and the camera, which comprises the following steps:
s1, the laser radar receives the satellite time service signal, the time receiving and recovering module locks the time of the satellite time service signal, and outputs the time to the point cloud generating module, and outputs a standard time interface signal to the outside;
s2: the programmable logic device receives the standard time interface signal, and the local time recovery module completes the time synchronization of the programmable logic device and the laser radar according to the standard time interface signal;
s3, the programmable logic device completes the time synchronization of the programmable logic device and the visible light camera through the time synchronization protocol module and the peer time synchronization protocol module in the visible light camera;
s4: the point cloud generating module receives the time locked by the time receiving and recovering module and synchronously outputs a time stamp along with the laser point cloud data;
and S5, the laser sampling period and phase calculation module calculates a smoothed laser radar sampling time sequence in a digital phase-locked loop mode by extracting time stamp information in the laser point cloud data, and the visible light camera generates a trigger signal according to the sampling time sequence in a continuous trigger mode to trigger the visible light camera to output an image with a time stamp, so that the frequency and phase synchronization of the laser point cloud data and the image data is completed.
Further, the method also comprises the following steps:
s6: step 5, processing and transmission delay are not considered, when the processing and transmission delay are not considered, the time stamp of the laser point cloud data and the time stamp of the image output have time delay, and the programmable logic device obtains the average value delta of the time delay through multiple measurements; when the programmable logic device generates a trigger signal, adjusting the phase of the trigger signal and eliminating the delay delta;
and S7, if the visible light camera is in the trigger calibration mode, the trigger signal is generated once when the time delay delta measured by the programmable logic device is larger than a set threshold value, and the visible light camera adjusts the phase of the generated image according to the trigger signal to complete the time synchronization of the laser point cloud data and the image output.
The technical scheme adopted by the invention not only realizes the time synchronization of the laser radar, the programmable logic device and the visible light camera, but also completes the frequency and phase synchronization of the laser point cloud data and the image data, and improves the data fusion quality.
The following detailed description will explain the present invention and its advantages.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
fig. 1 is a block diagram of a laser radar and camera time synchronization system according to the present invention.
FIG. 2 is a schematic diagram of processing delay according to the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and illustrated below, but the following embodiments are only preferred embodiments of the present invention, and not all of them. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
Example one
As shown in fig. 1, a lidar and camera time synchronization system includes:
laser radar: the laser radar is provided with a time receiving and recovering module and a point cloud generating module, the time receiving and recovering module receives satellite time signals, recovers standard time and outputs the standard time to the point cloud generating module, and meanwhile, standard time interface signals are output to the programmable logic device, and the point cloud generating module generates and outputs laser point cloud data with time stamps to the programmable logic device according to the standard time;
visible light camera: the visible light camera is provided with a time synchronization protocol module I and an image generation module, the image generation module supports a trigger signal, image acquisition and output are completed at the moment (such as a rising edge) when the trigger signal exists outside, and the image output has a timestamp;
the programmable logic device comprises: the programmable logic device is provided with a local time recovery module, a time synchronization protocol module II and a laser sampling period and phase calculation module, the local time recovery module is used for realizing the time synchronization of the programmable logic device and the laser radar, the time synchronization protocol module II is matched with the time synchronization protocol module I to realize the time synchronization of the programmable logic device and the visible light camera, the laser sampling period and phase calculation module extracts timestamp information from laser point cloud data, calculates the period and the phase of the laser sampling, outputs a trigger signal to the visible light camera according to the period and the phase of the laser sampling, triggers the visible light camera to output an image with a timestamp, and completes the synchronization of the laser point cloud data and the output frequency and the phase of the image.
Furthermore, the programmable logic device is provided with a time delay elimination module for calculating the time delay between the time stamp of the laser point cloud data and the time stamp of the image output, the time delay elimination module obtains an average value delta of the time delay through multiple measurements, and eliminates the time delay delta by adjusting the phase of the trigger signal when the trigger signal is generated. When the visible light camera is in the trigger calibration mode, the trigger signal is generated once when the delay delta is larger than the set threshold value.
In addition, it should be noted that the present invention is based on the following premise:
1. the period of laser sampling or emitting the point cloud is uniform, e.g., 10hz, i.e., the point cloud is emitted every 100 ms. This is also a common specification for industry products.
2. The visible light camera adopted by the invention supports an external trigger signal to trigger the camera to expose and photograph, and has two modes: outputting a picture to a trigger signal (e.g. rising edge of level signal), which is called continuous trigger mode; or giving a trigger signal (e.g. rising edge of the level signal) and then continuously outputting a picture for a period of time according to a set period, and this mode is called trigger calibration mode.
3. It is assumed here that the processing delay of each link is fixed, for example, the delay of the laser point cloud from the laser to the FPGA, the processing time of the FPGA for extracting the laser point cloud timestamp, the delay of the FPGA for generating the trigger signal, the time of the visible light camera from the trigger signal to the output of the video image, and the like.
Example two
A laser radar and camera time synchronization method comprises the following steps:
1. the laser radar receives GPS signals, the time receiving and recovering module locks GPS time and outputs the GPS time to the internal point cloud generating module, and meanwhile, 1pps/Tod signals are output outwards;
2. the FPGA receives the 1pps/Tod signal, and the local time recovery module maintains a time counter (which can be realized by a digital phase-locked loop) in the FPGA, so that the time synchronization of the FPGA and the laser is completed;
3. the FPGA completes time synchronization of the FPGA and the visible light camera through a time synchronization protocol module and a peer time synchronization protocol module in the visible light camera;
through the steps 1, 2 and 3, the laser radar, the FPGA and the visible light camera complete time synchronization.
4. The laser radar point cloud generating module receives the GPS time locked by the time receiving and recovering module and synchronously outputs a timestamp along with point cloud data;
5. and a laser sampling period and phase calculation module in the FPGA extracts the timestamp information in the laser point cloud data, and calculates smoothed laser radar sampling time sequences t1, t2 and t3 … in a digital phase-locked loop mode. In a continuous trigger mode, the visible light camera generates a trigger signal by using the sampling time sequence to trigger the visible light camera to output a video data sequence with a timestamp; thus, the frequency and phase synchronization of the laser point cloud data and the video data is completed.
6. And 5, if the processing is simple, generating a trigger signal by directly using a time stamp sequence in the laser point cloud data.
7. Neither of steps 5, 6 take into account processing and transmission delays. According to the processing mode of the step 5, data are transmitted to the FPGA from the laser radar, then the FPGA extracts a timestamp of laser point cloud, a sampling time sequence is output through a digital phase-locked loop, and a trigger signal is generated, wherein a certain time is needed; the point cloud time stamp output by the lidar and the time stamp output by the video have a time delay initially (refer to the schematic processing delay diagram of fig. 2) without regard to processing and transmission delays. The FPGA obtains the average value delta of the time delay through multiple measurements; when the FPGA generates the trigger signal, the phase of the trigger signal is adjusted, the delay delta is eliminated, and the time stamp of laser point cloud output and the time stamp of video image output are controlled within a small range.
8. If the camera is in the trigger calibration mode, the trigger signal is generated only once when the delta measured by the FPGA is larger than a certain threshold value, the phase of the generated video stream is adjusted by the inside of the visible light camera according to the trigger signal, and the time synchronization of the point cloud data and the video stream can be completed.
And 5, completing the frequency and phase synchronization of the laser point cloud and the video data through steps 5, 6, 7 and 8.
Therefore, the invention not only realizes the time synchronization of the laser radar, the programmable logic device and the visible light camera, but also completes the frequency and phase synchronization of the laser point cloud data and the image data, and improves the data fusion quality.
Those skilled in the art will appreciate that GPS provides satellite time service signals, and therefore, beidou time service may be used instead. The FPGA, which is one of the programmable logic devices, may be replaced with a CPLD or the like. The time synchronization protocol can adopt an IEEE1588V2 protocol or an NTP protocol, and can also adopt other time synchronization protocols.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in other forms without departing from the spirit or essential characteristics thereof. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (10)
1. A lidar and camera time synchronization system, comprising:
laser radar: the laser radar is provided with a time receiving and recovering module and a point cloud generating module, the time receiving and recovering module receives satellite time signals, recovers standard time and outputs the standard time to the point cloud generating module, and meanwhile, standard time interface signals are output to the programmable logic device, and the point cloud generating module generates and outputs laser point cloud data with time stamps to the programmable logic device according to the standard time;
visible light camera: the visible light camera is provided with a time synchronization protocol module I and an image generation module, the image generation module finishes image acquisition and output according to a trigger signal, and the image output has a time stamp;
the programmable logic device comprises: the programmable logic device is provided with a local time recovery module, a time synchronization protocol module II and a laser sampling period and phase calculation module, the local time recovery module is used for realizing the time synchronization of the programmable logic device and the laser radar, the time synchronization protocol module II is matched with the time synchronization protocol module I to realize the time synchronization of the programmable logic device and the visible light camera, the laser sampling period and phase calculation module extracts timestamp information from laser point cloud data, calculates the period and the phase of the laser sampling, outputs a trigger signal to the visible light camera according to the period and the phase of the laser sampling, triggers the visible light camera to output an image with a timestamp, and completes the synchronization of the laser point cloud data and the output frequency and the phase of the image.
2. A lidar and camera time synchronization system according to claim 1, wherein: and the local time recovery module receives a standard time interface signal sent by the laser radar and realizes the time synchronization of the programmable logic device and the laser by maintaining a local time counter.
3. A lidar and camera time synchronization system according to claim 1, wherein: the laser sampling period and phase calculation module calculates a smoothed laser radar sampling time sequence in a digital phase-locked loop mode, and the visible light camera generates a trigger signal by using the sampling time sequence in a continuous trigger mode.
4. A lidar and camera time synchronization system according to claim 1, wherein: the programmable logic device is provided with a time delay elimination module for calculating time delay between a time stamp of laser point cloud data and a time stamp of image output, the time delay elimination module obtains an average value delta of time delay through multiple measurements, and eliminates the time delay delta by adjusting the phase of a trigger signal when the trigger signal is generated.
5. The lidar and camera time synchronization system of claim 4, wherein: when the visible light camera is in the trigger calibration mode, the trigger signal is generated once when the delay delta is larger than the set threshold value.
6. A lidar and camera time synchronization system according to claim 1, wherein: and the laser sampling period and phase calculation module calculates the period and phase of laser sampling by a sliding window or digital phase-locked loop method.
7. A lidar and camera time synchronization system according to claim 1, wherein: the satellite time service signal adopts GPS or Beidou time service, and the standard time interface signal is 1 pps/Tod.
8. A lidar and camera time synchronization system according to claim 1, wherein: the programmable logic device is an FPGA or a CPLD.
9. A laser radar and camera time synchronization method is characterized by comprising the following steps:
s1, the laser radar receives the satellite time service signal, the time receiving and recovering module locks the time of the satellite time service signal, and outputs the time to the point cloud generating module, and outputs a standard time interface signal to the outside;
s2: the programmable logic device receives the standard time interface signal, and the local time recovery module completes the time synchronization of the programmable logic device and the laser radar according to the standard time interface signal;
s3, the programmable logic device completes the time synchronization of the programmable logic device and the visible light camera through the time synchronization protocol module and the peer time synchronization protocol module in the visible light camera;
s4: the point cloud generating module receives the time locked by the time receiving and recovering module and synchronously outputs a time stamp along with the laser point cloud data;
and S5, the laser sampling period and phase calculation module calculates a smoothed laser radar sampling time sequence in a digital phase-locked loop mode by extracting time stamp information in the laser point cloud data, and the visible light camera generates a trigger signal according to the sampling time sequence in a continuous trigger mode to trigger the visible light camera to output an image with a time stamp, so that the frequency and phase synchronization of the laser point cloud data and the image data is completed.
10. A lidar and camera time synchronization method according to claim 9, wherein: further comprising:
s6: step 5, processing and transmission delay are not considered, when the processing and transmission delay are not considered, the time stamp of the laser point cloud data and the time stamp of the image output have time delay, and the programmable logic device obtains the average value delta of the time delay through multiple measurements; when the programmable logic device generates a trigger signal, adjusting the phase of the trigger signal and eliminating the delay delta;
and S7, if the visible light camera is in the trigger calibration mode, the trigger signal is generated once when the time delay delta measured by the programmable logic device is larger than a set threshold value, and the visible light camera adjusts the phase of the generated image according to the trigger signal to complete the time synchronization of the laser point cloud data and the image output.
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| CN114812673A (en) * | 2022-04-02 | 2022-07-29 | 北京卫星环境工程研究所 | Multi-parameter multi-module optical fiber data synchronous testing method |
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