CN112753212B - 将时间数据添加到图像帧扫描线的系统、方法及可读介质 - Google Patents

将时间数据添加到图像帧扫描线的系统、方法及可读介质 Download PDF

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Publication number
CN112753212B
CN112753212B CN201980063099.0A CN201980063099A CN112753212B CN 112753212 B CN112753212 B CN 112753212B CN 201980063099 A CN201980063099 A CN 201980063099A CN 112753212 B CN112753212 B CN 112753212B
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China
Prior art keywords
data
scan line
sensor
time
image
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CN201980063099.0A
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English (en)
Chinese (zh)
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CN112753212A (zh
Inventor
A·贝尼曼
C·A·约翰逊
T·卡拉德尼兹
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Zoox Inc
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Zoox Inc
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Priority claimed from US16/142,966 external-priority patent/US10582137B1/en
Priority claimed from US16/142,865 external-priority patent/US11451688B2/en
Application filed by Zoox Inc filed Critical Zoox Inc
Priority to CN202411283667.7A priority Critical patent/CN119211729A/zh
Publication of CN112753212A publication Critical patent/CN112753212A/zh
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/50—Control of the SSIS exposure
    • H04N25/53—Control of the integration time
    • H04N25/533—Control of the integration time by using differing integration times for different sensor regions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/46—Embedding additional information in the video signal during the compression process
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/689—Motion occurring during a rolling shutter mode
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
    • H04N19/17—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Television Signal Processing For Recording (AREA)
  • Studio Devices (AREA)
CN201980063099.0A 2018-09-26 2019-09-25 将时间数据添加到图像帧扫描线的系统、方法及可读介质 Active CN112753212B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202411283667.7A CN119211729A (zh) 2018-09-26 2019-09-25 图像扫描线时间戳

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US16/142,966 US10582137B1 (en) 2018-09-26 2018-09-26 Multi-sensor data capture synchronizaiton
US16/142,966 2018-09-26
US16/142,865 US11451688B2 (en) 2018-09-26 2018-09-26 Image scan line timestamping
US16/142,865 2018-09-26
PCT/US2019/053023 WO2020069034A1 (en) 2018-09-26 2019-09-25 Image scan line timestamping

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202411283667.7A Division CN119211729A (zh) 2018-09-26 2019-09-25 图像扫描线时间戳

Publications (2)

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CN112753212A CN112753212A (zh) 2021-05-04
CN112753212B true CN112753212B (zh) 2024-09-24

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CN201980063099.0A Active CN112753212B (zh) 2018-09-26 2019-09-25 将时间数据添加到图像帧扫描线的系统、方法及可读介质
CN202411283667.7A Pending CN119211729A (zh) 2018-09-26 2019-09-25 图像扫描线时间戳

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EP (1) EP3857865B1 (https=)
JP (1) JP7422747B2 (https=)
CN (2) CN112753212B (https=)
WO (1) WO2020069034A1 (https=)

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Publication number Priority date Publication date Assignee Title
EP4070130A4 (en) * 2019-12-04 2023-12-27 Waymo LLC EFFICIENT ALGORITHM FOR PROJECTING WORLD POINTS ONTO A ROLLER SHUTTER IMAGE
CN114915731B (zh) * 2021-02-07 2025-04-08 深圳引望智能技术有限公司 处理图像传感器图像数据的方法和装置
CN114089373B (zh) * 2022-01-20 2022-05-17 探维科技(北京)有限公司 基于图像融合激光的雷达系统扫描方法及装置
WO2023174653A1 (en) * 2022-03-17 2023-09-21 Sony Semiconductor Solutions Corporation Hybrid image and event sensing with rolling shutter compensation
EP4412192B1 (en) * 2023-01-31 2025-05-28 Axis AB Background light subtraction for infra-red images
US12511914B1 (en) 2024-12-20 2025-12-30 Waymo Llc Camera arrangements for vehicular object detection and avoidance

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101842661A (zh) * 2007-11-07 2010-09-22 电子地图有限公司 将范围传感器数据映射在图像传感器数据上的方法及布置

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US8417058B2 (en) * 2010-09-15 2013-04-09 Microsoft Corporation Array of scanning sensors
US8913140B2 (en) * 2011-08-15 2014-12-16 Apple Inc. Rolling shutter reduction based on motion sensors
US20160086391A1 (en) * 2012-03-14 2016-03-24 Autoconnect Holdings Llc Fleetwide vehicle telematics systems and methods
US9854170B2 (en) * 2015-12-29 2017-12-26 Oculus Vr, Llc Rolling shutter blur reduction using motion data
CN108605098B (zh) * 2016-05-20 2020-12-11 深圳市大疆创新科技有限公司 用于卷帘快门校正的系统和方法
KR20190062390A (ko) 2016-10-11 2019-06-05 모빌아이 비젼 테크놀로지스 엘티디. 검출된 배리어에 기반한 차량의 항법
CN110383008B (zh) * 2017-01-12 2024-01-23 御眼视觉技术有限公司 基于车辆活动的导航

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101842661A (zh) * 2007-11-07 2010-09-22 电子地图有限公司 将范围传感器数据映射在图像传感器数据上的方法及布置

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Publication number Publication date
CN112753212A (zh) 2021-05-04
CN119211729A (zh) 2024-12-27
JP7422747B2 (ja) 2024-01-26
EP3857865A1 (en) 2021-08-04
JP2022502919A (ja) 2022-01-11
WO2020069034A1 (en) 2020-04-02
EP3857865B1 (en) 2025-12-31

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