CN115297222A - Multi-camera synchronization system for bionic compound eye and control method thereof - Google Patents
Multi-camera synchronization system for bionic compound eye and control method thereof Download PDFInfo
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Abstract
The invention provides a multi-camera synchronization system for bionic compound eyes and a control method thereof; the system comprises a synchronous signal sending module and a plurality of synchronous signal receiving modules, wherein a computer sends a frame frequency signal to the synchronous signal sending module through a communication circuit and sends shutter delay time and exposure time signals to the synchronous signal receiving modules, the synchronous signal generating module generates the frame frequency signal into a differential synchronous signal and simultaneously sends the differential synchronous signal to all the synchronous signal receiving modules, and the plurality of synchronous signal receiving modules control the opening and closing of a shutter of a camera according to the received synchronous differential signal, shutter delay time and exposure time. The invention has the advantages of strong anti-interference capability during synchronous signal transmission, good stability of synchronous signals, small temperature drift, simplified system design and improved expansibility, and the synchronous signal can be transmitted in a unique synchronous signal generating module and a differential transmission mode, and the synchronous precision between cameras can reach 100 ns.
Description
Technical Field
The invention relates to a multi-camera synchronization system for bionic compound eyes and a control method thereof.
Background
In a bionic compound eye imaging system, the synchronism of exposure among multiple cameras is one of key technologies for ensuring the acquisition of a high-quality data fusion result, and especially in high frame frequency imaging and high dynamic scene imaging, the processing effects of image correction, feature invariant corner extraction, image matching and the like are dependent on the synchronism of exposure among multiple cameras.
In order to ensure the synchronism of exposure among multiple cameras, many simulated compound eyes realize synchronous control by compensating an internal clock of each camera in a multi-camera system, for example, patent No. 201710439586.5 discloses a method, a device and a terminal device for controlling synchronous exposure of the multi-camera system, and an initial hardware time code of each camera in the multi-camera system is obtained by receiving an exposure synchronization instruction, so as to obtain a plurality of initial hardware time codes; determining a synchronization reference value according to the plurality of initial hardware time codes; determining a frame compensation value corresponding to each camera in the multi-camera system according to the synchronization reference value and the initial hardware time code of each camera, and sending the frame compensation value corresponding to each camera to each corresponding camera in the multi-camera system, so that each camera adjusts the length of an image according to the frame compensation value corresponding to each camera, and the exposure time of all the cameras in the multi-camera system is synchronous.
Invention patent 201910715584.3 discloses a multi-camera exposure synchronous control system and method and an unmanned aerial vehicle. The system comprises the following components: the shutter signal conversion module and the image acquisition equipment control assembly comprise a processor, a driving signal module and an image sensor; if the shutter signal conversion module detects the falling edge of the image acquisition trigger signal, the shutter signal conversion module sends an image acquisition signal corresponding to the image acquisition trigger signal to the processor; if the idle control unit of each processor detects the falling edge of the image acquisition signal, controlling the driving signal module to stop sending the synchronous signal; the reset control unit controls the image sensor to reset; the initialization control unit controls the initialization of the image sensor; the sending control unit controls the driving signal module to resend the synchronous signal and controls the image sensor to expose when receiving the rising edge of the specified synchronous signal; the receiving unit receives image data to control the simultaneous exposure of the plurality of image sensors if the receiving unit detects the rising edge of the next synchronizing signal of the designated synchronizing signal. In the invention, the control of the synchronous signal is coupled with the depth of image processing, so that the whole synchronous system becomes complicated and has poor expandability; the synchronization signal is divided into frame synchronization and line synchronization, and is only suitable for a specific image sensor, and is too complicated for a CMOS image sensor using a rolling shutter and a global shutter. The synchronization of the images depends on the GPS, and the method is suitable for a distributed image acquisition system (such as the invention is mainly applied to an unmanned aerial vehicle in flight) and is not suitable for a static-mounted multi-camera imaging array with high integration level.
The invention patent 202210203743.3 introduces a multi-camera high-speed synchronous shooting system and a shooting method, the system of the invention comprises a hardware synchronizer main board, a hardware synchronizer slave board, a camera, a data acquisition computer and a power supply part; the hardware synchronizer master board is used for sending a hardware control trigger signal, and outputting the hardware control trigger signal to the hardware synchronizer slave board after passing through the amplifying circuit; the hardware synchronizer slave board is used for receiving a signal of the hardware synchronizer master board and transmitting a control signal to the camera so as to trigger the camera to shoot; and the camera is used for receiving the signals of the slave plate of the hardware synchronizer, taking pictures according to the frequency of the control trigger signal and transmitting the pictures to the data acquisition computer. The invention can realize the synchronous shooting of the cameras under the conditions of multiple cameras, multiple viewpoints and high speed, so that the shot data can obtain a multi-viewpoint video sequence with high synchronism and reliability without post adjustment. The exposure time of each camera in the invention is uncontrollable, and the consistency of the exposure time of each camera cannot be ensured; the synchronization signal uses ULN2003 as power amplification of an output signal, the reliability of synchronization signal transmission is ensured by increasing signal strength, and the synchronization signal can be used as an interference emission source in practical application and cause interference on an image sensor; the time accuracy of the synchronization signal is not given.
The invention patent 202010428647.X introduces a multi-camera synchronous calibration method, device and system, the device comprises a processor, a synchronous trigger module, a digital tube timing module and a storage module, the processor is used for respectively determining the synchronous signal sending time corresponding to each camera according to the time length to be calibrated stored in the storage module to obtain a synchronous signal sending time set; the processor is further used for sending a first synchronization signal to the synchronization triggering module according to the synchronization signal sending time in the synchronization signal sending time set and starting the digital tube timing module to start timing, wherein the first synchronization signal is used for indicating the synchronization triggering module to send multi-channel pulse signals at different times obtained by timing of the digital tube timing module so as to achieve the purpose that the plurality of cameras finish shooting pictures at the same time. After the scheme is adopted, the time delay error among the cameras is reduced, and the synchronism among the multiple cameras is ensured. The invention uses the internal timing clock of each camera, and uses the form of software timing compensation to complete the synchronous calibration, the synchronous precision is lower than the hard synchronization, according to the example in the invention, the synchronous precision is 10ms (namely 0.01 s); is limited by the long-term stability and temperature drift error of each camera clock, needs to be regularly calibrated, and is inconvenient to use.
The invention patent 201710675810.0 introduces a multi-camera dynamic synchronous exposure circuit and a method of a photogrammetric system based on an FPGA, the circuit comprises a forward channel module, an FPGA processing module, a power supply module and a clock module, wherein: the front channel module is used for providing a connecting channel for each camera, is connected with the FPGA processing module and transmits the collected photographing triggering instruction of each camera; the FPGA processing module is used for recording asynchronous time difference of shutter actions of each camera according to the acquired camera photographing trigger instruction, calculating a synchronous time difference value, and delaying other trigger signals by taking a finally arrived shutter action signal as a reference according to the synchronous time difference value so as to generate synchronous photographing trigger signals of each camera; the power module provides power for the FPGA processing module, and the clock module is configured to provide a high-frequency time-based clock signal for the FPGA processing module. The invention uses a dynamic self-calibration scheme, which carries out shutter control of the current frame after correction by measuring the shutter action time error of each camera when the previous frame acquires an image and continuously and circularly processes the shutter action time error, reduces the synchronous error by iterative calibration, and has the problems that the synchronous error continuously and dynamically changes, even the imaging frame frequency is influenced, the exposure time among the cameras is uncontrollable, and the dynamic self-calibration scheme is not beneficial to the correction and fusion processing of image data among multiple cameras.
The invention patent 201710881330.x introduces a multi-camera array shutter control device, which comprises a wireless transmission control module: the wireless transmission device comprises a keyboard, a display, a CPU, a wireless transmission control unit and an antenna; the wireless reception control module n (n =1,2, \8230;, n) includes: shutter release interface n (n =1,2, \8230;, n), control switch n (n =1,2, \8230;, n), CPU n (n =1,2, \8230;, n), wireless reception control unit n (n =1,2, \8230;, n), antenna; and a PCB (printed circuit board). The wireless control system is characterized in that a wireless control mode is adopted, the traditional wired control mode is eliminated, modularization and generalization are realized, the structure is simple, a good human-computer interaction function is realized, and the wireless control system is suitable for various environments. The method is also characterized in that the shutter delay time of the camera can be set at will through a keyboard, so that the camera can finish relay shooting tasks or multi-camera array synchronous shooting, and the method has multiple flexible control functions. In the invention, the transmission of the synchronous signals adopts a wireless mode, including modulation, demodulation and transmission delay of control signals, the synchronization precision depends on the clock precision of each wireless receiving control unit, calibration is needed before synchronous shooting in order to reduce the synchronization error and the delay error, and the synchronization precision is in the second and millisecond level after calibration.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-camera synchronization system for bionic compound eyes and a control method thereof, wherein a synchronization signal is generated by a synchronization signal sending module, the system is simplified, the synchronization precision among cameras in the multi-camera system is improved, the synchronization precision reaches 100ns level, the long-term stability of the synchronization signal is improved, the temperature drift is reduced, the synchronization mode and the shutter exposure time are flexibly controlled by a control command, a receiving module can be added according to the number of cameras, and the expandability is improved.
The invention is realized by the following technical scheme.
The invention provides a multi-camera synchronization system for bionic compound eyes and a control method thereof; the system comprises a synchronous signal sending module and a plurality of synchronous signal receiving modules, wherein a computer sends a frame frequency signal to the synchronous signal sending module through a communication circuit and sends shutter delay time and exposure time signals to the synchronous signal receiving modules, the synchronous signal generating module generates the frame frequency signal into a differential synchronous signal and simultaneously sends the differential synchronous signal to all the synchronous signal receiving modules, the plurality of synchronous signal receiving modules control the opening and closing of a shutter of the camera according to the received synchronous differential signal, shutter delay time and exposure time, and the camera sends a shot picture to the computer for processing.
The synchronous signal generation module comprises a sending control circuit connected with the communication circuit, the sending control circuit is also respectively connected with the generation clock circuit and the single-ended to differential circuit, and the single-ended to differential circuit is connected with the synchronous signal receiving module.
The synchronous signal receiving module comprises a receiving control circuit connected with the communication circuit, the receiving control circuit is further connected with the differential-to-single-ended circuit, the shutter control circuit and the receiving clock circuit respectively, the shutter control circuit is connected with the camera, and the differential-to-single-ended circuit is connected with the synchronous signal sending circuit.
The communication circuit communicates using RS 422.
The multi-camera synchronization system for bionic compound eyes and the control method thereof as claimed in claim 1, the steps are:
1) Starting;
2) The computer receives the frame frequency f, shutter delay t1 and exposure duration t2 of the image and processes the frame frequency f, shutter delay t1 and exposure duration t2 into corresponding control commands;
3) The computer sends the frame frequency control signal to the synchronous signal sending module, and sends the shutter delay command and the exposure duration command to the synchronous signal receiving module;
4) The synchronous signal sending module calculates a frame period t according to the frame frequency f, generates a pulse signal of the frame period t, converts the pulse signal into a differential synchronous signal and sends the differential synchronous signal to the synchronous signal receiving module;
5) After receiving the differential synchronization signal, the synchronization signal receiving module enters a synchronization to-be-confirmed state and records the time t0;
6) After the synchronization signal receiving module confirms that the differential synchronization signal is received, the corresponding camera shutter is controlled to be opened after the time delay of t1 is started from the time t0, and the corresponding camera shutter is controlled to be closed after the time delay of t2 is started from the time t0;
7) The synchronous signal receiving module clears the shutter delay and the exposure duration count;
8) Enter the next frame cycle step 3) to step 7).
The frame period t =1/f in said step 4).
And in the step 5), the synchronization signal receiving module confirms that the differential synchronization signal is received when the high-level signal is received in m continuous frame periods.
The value of m is 28 to 35.
In the step 4), the synchronization signal sending module times the period based on the clock module, and the running clock is set to be 100MHz.
The width of the differential synchronization signal is 10 mus.
The invention has the beneficial effects that:
1. through the unique synchronous signal generation module and the differential transmission mode, the anti-interference capability is strong during synchronous signal transmission, the synchronization precision between cameras is high, and the time precision can be controlled to 100 ns;
2. the multi-camera synchronization device generates a synchronization signal by a unique synchronization signal generation module, the synchronization signal receiving module realizes high-precision synchronization by receiving the synchronization signal and a control command, only a high-precision temperature compensation crystal oscillator is used in the synchronization signal generation module, the synchronization signal receiving module can select a common crystal oscillator, and the receiving modules can be added according to the number of cameras, so that the long-term stability of the synchronization signal is good, the temperature drift is small, and meanwhile, the system design can be simplified, the cost is reduced, and the expansibility is improved;
3. through the control command of the upper computer synchronous control software, the shutter delay time and the exposure time of each camera can be controlled, and can be flexibly set according to the requirements of the use scene. In application, by controlling the shutter delay time and the exposure time of each camera, for example, by changing the delay time, the effects of synchronous shooting, sequential shooting, out-of-order shooting and the like of each camera can be realized, and the image acquisition of a high-dynamic scene is completed; by changing the exposure time, the control of the exposure time of different cameras can be realized, and the clear imaging of different brightness parts in the same scene is completed.
Drawings
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a circuit schematic of the synchronization signal transmission module of the present invention;
FIG. 3 is a circuit schematic of the synchronization signal receiving module of the present invention;
FIG. 4 is a flow chart of the operation of the present invention;
fig. 5 is a control flow diagram of the present invention.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
As shown in fig. 1, the synchronization control software runs on a general-purpose computer (a communication board card needs to be pre-installed) and is used for setting frame frequency, synchronization delay of each camera, and shutter exposure time parameters of each camera.
Each set of bionic compound eye imaging system comprises a set of synchronous signal sending module, and mainly comprises a clock circuit, a controller circuit, a communication circuit and a single-end to differential circuit. The controller in the controller circuit can select a Micro Control Unit (MCU), a Complex Programmable Logic Device (CPLD) or a Field Programmable Gate Array (FPGA), wherein the MCU is selected for use, and the working main clock frequency is 100MHz; the communication circuit 6 may use a Controller Area Network (CAN) bus, an RS422 bus or an RS485 bus, where the RS422 bus circuit is used in the present invention. The crystal oscillator in the clock circuit 4 is a temperature compensation crystal oscillator, and provides a clock signal with small temperature drift and good long-term stability for the synchronous signal sending module; the communication circuit carries out level conversion on a control command from an upper computer on the communication cable and then sends the control command to the controller circuit; the controller circuit generates pulses with corresponding periods according to the received frame frequency command of the upper computer, wherein the frame frequency is set to be 25Hz, the pulse period is 40ms, the pulse width is 0.1ms, the time resolution can reach 10ns when the 100MHz working frequency is adopted, and the pulses are output to the single-end to differential circuit 7 through a lead; the single-end to differential circuit 7 converts the single-end pulse signal into a differential signal and then sends the differential signal to all the synchronous signal receiving modules.
Each camera unit in the bionic compound eye imaging system comprises a set of synchronous signal receiving modules, when a camera array is formed by using n cameras, the whole system comprises n sets of synchronous signal receiving modules, a computer sends frame frequency signals to a synchronous signal sending module through a communication circuit and sends shutter delay time and exposure time signals to the synchronous signal receiving modules, the synchronous signal generating module generates the frame frequency signals into differential synchronous signals and sends the differential synchronous signals to all the synchronous signal receiving modules at the same time, the plurality of synchronous signal receiving modules control the opening and closing of a shutter of the camera according to the received synchronous differential signals, the shutter delay time and the exposure time, and the camera sends shot pictures to the computer for processing. The computer is internally provided with synchronous control software to control the system.
As shown in fig. 2, the synchronization signal generation module includes a sending control circuit connected to the communication circuit, the sending control circuit is further connected to the generation clock circuit and the single-ended to differential circuit, respectively, and the single-ended to differential circuit is connected to the synchronization signal receiving module.
The sending control circuit adopts an STM32 series or GD32 series 32-bit microcontroller based on ARM, pins PA9 and PA10 of the controller are respectively connected with the communication module, a pin PB12 is connected with a single-end to differential circuit, the single-end to differential circuit uses a MAX3490 chip U2, a pin 3 of the chip U2 is connected with the controller, an OSC IN pin of the controller is connected with a clock circuit through a resistor R1, and the clock circuit uses an active temperature compensation crystal oscillator;
the communication circuit uses RS422 to communicate, the model of the RS422 differential level-conversion TTL single-end level chip is MAX3490, and the MAX3490 is used to convert the periodic pulse signal into the differential synchronous signal.
As shown in fig. 3, the synchronization signal receiving module includes a receiving control circuit connected to the communication circuit, the receiving control circuit is further connected to the differential-to-single-ended circuit, the shutter control circuit, and the receiving clock circuit, the shutter control circuit is connected to the camera, and the differential-to-single-ended circuit is connected to the synchronization signal transmitting circuit. The controller in the controller circuit selects a 32-bit microcontroller which can be an ARM-based STM32 series or GD32 series 32-bit microcontroller; the communication circuit uses RS422 communication, and the model of an RS422 differential level conversion TTL single-end level chip is MAX3490; a crystal resonator is used in the clock circuit; the difference is converted into the difference by using MAX3490 in the difference-to-single-ended circuit; the shutter control circuit uses a microcontroller general purpose input output port (GPIO) to control the on-off of a field effect transistor so as to realize the shutter switch and time delay.
The control steps of the synchronization software are as follows:
after the system is started, an operator inputs frame frequency, shutter delay time and exposure duration through a computer control interface and respectively sends the frame frequency, the shutter delay time and the exposure duration to the synchronous signal sending module and the synchronous signal receiving module through RS 422; the synchronous signal sending module generates a differential synchronous signal and then sends the differential synchronous signal to the synchronous signal receiving module, and the synchronous signal receiving module controls the shutter to open and close according to the received synchronous signal, the shutter delay time and the exposure duration; the image acquisition software module monitors the internet access in real time, and after image data is received, the image is cached and preprocessed and then sent to the image processing software module; the image processing software module splices and fuses the images and then sends the images to a display screen or stores the images, updates the exposure duration parameter and sends the images to the synchronous control software; the synchronous control software updates the exposure duration and then sends the exposure duration to the synchronous signal receiving module; the synchronous signal receiving module controls the shutter opening duration according to the updated exposure duration in the next period; and then carrying out cycle synchronization control.
1) Starting;
2) An operator inputs a frame frequency f, a shutter delay time t1 and an exposure time t2 through a computer control interface;
3) The computer sends the frame frequency control signal to the synchronous signal sending module, and sends the shutter delay command and the exposure duration command to the synchronous signal receiving module;
4) The synchronous signal sending module calculates a frame period t =1/f according to a frame frequency f, times based on an internal temperature compensation crystal oscillator, generates a pulse signal at each interval t, converts the pulse signal into a differential synchronous signal and sends the differential synchronous signal to the synchronous signal receiving module;
5) After receiving the differential synchronization signal, the synchronization signal receiving module enters a synchronization to-be-confirmed state and records the time t0;
6) The synchronous signal receiving module judges whether the continuous 30 periods are high level signals or not, if not, the t0 value is cleared, if yes, the differential synchronous signals are received, the corresponding camera shutter is controlled to be opened after the time of t1 is delayed from the time of t0, and the corresponding camera shutter is controlled to be closed after the time of t2 is delayed from the time of t0;
7) The synchronous signal receiving module clears the shutter delay and the exposure duration count;
8) Enter the next frame cycle step 3) to step 7).
Software in the synchronous signal generating and sending module runs under a high-speed clock, the running clock is set to be 100MHz, and when a temperature compensation crystal oscillator is used, the timing precision of a long-time counter can reach 10ns; software in the synchronous signal receiving and shutter control module runs under a high-speed clock, the running clock is set to be 100MHz, a common crystal oscillator is used, and the timing precision of a counter in a single period can reach 10ns; the synchronous signals are transmitted among different modules and the anti-interference capability is improved in a differential mode, and the single-end-to-differential circuit and the differential-to-single-end circuit both use conversion devices with the maximum error not greater than 50 ns; in order to give consideration to the reliability and accuracy of synchronous signal transmission, the pulse width of a synchronous signal is not too narrow or too wide, the method is set to 10 mus, when a high-level signal is received during receiving, firstly, the rising edge time t0 is cached, then the authenticity of the synchronous signal is judged in a multi-cycle confirmation mode (the more the number of judgment cycles is, the strong anti-interference capability and the high reliability are high, the method is set to 30 cycles), when the real synchronous signal is judged, the t0 is used as the starting point of the synchronous signal, otherwise, the t0 value is cleared, and then the arrival of the next high-level signal is continuously waited.
Claims (10)
1. A multi-camera synchronization system for bionic compound eyes, characterized in that: the system comprises a synchronous signal sending module and a plurality of synchronous signal receiving modules, wherein a computer sends a frame frequency signal to the synchronous signal sending module through a communication circuit and sends shutter delay time and exposure time signals to the synchronous signal receiving modules, the synchronous signal generating module generates the frame frequency signal into a differential synchronous signal and simultaneously sends the differential synchronous signal to all the synchronous signal receiving modules, the plurality of synchronous signal receiving modules control the opening and closing of a shutter of the camera according to the received synchronous differential signal, shutter delay time and exposure time, and the camera sends a shot picture to the computer for processing.
2. The multi-camera synchronization system for bionic compound eyes according to claim 1, characterized in that: the synchronous signal generation module comprises a sending control circuit connected with the communication circuit, the sending control circuit is also respectively connected with the generation clock circuit and the single-ended to differential circuit, and the single-ended to differential circuit is connected with the synchronous signal receiving module.
3. The multi-camera synchronization system for bionic compound eyes according to claim 1, characterized in that: the synchronous signal receiving module comprises a receiving control circuit connected with the communication circuit, the receiving control circuit is further connected with the differential-to-single-ended circuit, the shutter control circuit and the receiving clock circuit respectively, the shutter control circuit is connected with the camera, and the differential-to-single-ended circuit is connected with the synchronous signal sending circuit.
4. The multi-camera synchronization system for bionic compound eyes according to claim 2 or 3, characterized in that: the communication circuit communicates using RS 422.
5. A control method of a multi-camera synchronization system for bionic compound eyes comprises the following steps:
1) Starting;
2) The computer receives the frame frequency f, shutter delay t1 and exposure duration t2 of the image and processes the frame frequency f, shutter delay t1 and exposure duration t2 into corresponding control commands;
3) The computer sends the frame frequency control signal to the synchronous signal sending module and sends a shutter delay command and an exposure duration command to the synchronous signal receiving module;
4) The synchronous signal sending module calculates a frame period t according to the frame frequency f, generates a pulse signal of the frame period t, converts the pulse signal into a differential synchronous signal and sends the differential synchronous signal to the synchronous signal receiving module;
5) After receiving the differential synchronization signal, the synchronization signal receiving module enters a synchronization state to be confirmed and records the time t0;
6) After confirming that the differential synchronous signal is received, the synchronous signal receiving module controls the corresponding camera shutter to be opened after delaying the time length of t1 from the time of t0, and controls the corresponding camera shutter to be closed after delaying the time length of t2 from the time of t0;
7) The synchronous signal receiving module clears the shutter delay and the exposure duration count;
8) Enter the next frame cycle step 3) to step 7).
6. The control method of the multi-camera synchronization system for bionic compound eyes according to claim 5, wherein: the frame period t =1/f in the step 4).
7. The control method of the multi-camera synchronization system for bionic compound eyes according to claim 5, wherein: and in the step 5), the synchronization signal receiving module confirms that the differential synchronization signal is received when the high-level signal is received in m continuous frame periods.
8. The control method of the multi-camera synchronization system for the bionic compound eye according to claim 7, characterized in that: the value of m is 28 to 35.
9. The control method of the multi-camera synchronization system for bionic compound eyes according to claim 5, wherein: in the step 4), the synchronization signal sending module times the period based on the clock module, and the running clock is set to be 100MHz.
10. The control method of the multi-camera synchronization system for bionic compound eyes according to claim 5, wherein: the width of the differential synchronization signal is 10 mus.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115883938A (en) * | 2022-12-23 | 2023-03-31 | 星宸科技股份有限公司 | Image system |
| CN117812463A (en) * | 2024-03-01 | 2024-04-02 | 深圳赛尔智控科技有限公司 | Synchronous control method and related equipment for multi-camera global exposure |
| CN117812463B (en) * | 2024-03-01 | 2024-05-28 | 深圳赛尔智控科技有限公司 | Synchronous control method and related equipment for multi-camera global exposure |
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2022
- 2022-07-26 CN CN202210886313.6A patent/CN115297222A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115883938A (en) * | 2022-12-23 | 2023-03-31 | 星宸科技股份有限公司 | Image system |
| CN117812463A (en) * | 2024-03-01 | 2024-04-02 | 深圳赛尔智控科技有限公司 | Synchronous control method and related equipment for multi-camera global exposure |
| CN117812463B (en) * | 2024-03-01 | 2024-05-28 | 深圳赛尔智控科技有限公司 | Synchronous control method and related equipment for multi-camera global exposure |
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