WO2022099482A1 - 曝光控制方法、装置、可移动平台及计算机可读存储介质 - Google Patents

曝光控制方法、装置、可移动平台及计算机可读存储介质 Download PDF

Info

Publication number
WO2022099482A1
WO2022099482A1 PCT/CN2020/127905 CN2020127905W WO2022099482A1 WO 2022099482 A1 WO2022099482 A1 WO 2022099482A1 CN 2020127905 W CN2020127905 W CN 2020127905W WO 2022099482 A1 WO2022099482 A1 WO 2022099482A1
Authority
WO
WIPO (PCT)
Prior art keywords
exposure
target
shutter sensor
rolling shutter
sensing unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/127905
Other languages
English (en)
French (fr)
Inventor
杜劼熹
周游
彭梦龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2020/127905 priority Critical patent/WO2022099482A1/zh
Publication of WO2022099482A1 publication Critical patent/WO2022099482A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene

Definitions

  • the present application relates to the technical field of exposure control, and in particular, to an exposure control method, a device, a movable platform, and a computer-readable storage medium.
  • the movable platform can perceive the surrounding environment through multiple vision sensors.
  • the vision sensor can use the global shutter (Global Shutter) or the rolling shutter (Rolling Shutter).
  • Global Shutter global shutter
  • Rolling Shutter rolling shutter
  • the vision sensor using the global shutter is used.
  • the entire image is exposed at the same time, and the visual sensor of the rolling shutter is used to expose the image line by line, and the exposure time of each line of the image is different. Due to the different exposure control methods of the global shutter and the rolling shutter, the image captured by the visual sensor using the global shutter and the image captured by the visual sensor using the rolling shutter will have the problem of asynchronous exposure time, which will affect the image quality and cause a poor user experience.
  • embodiments of the present application provide an exposure control method, device, movable platform, and computer-readable storage medium, which aim to ensure exposure synchronization between a rolling shutter sensor and a global shutter sensor.
  • an embodiment of the present application provides an exposure control method, which is applied to an electronic device, where the electronic device includes a rolling shutter sensor and a global shutter sensor, the rolling shutter sensor includes a plurality of sensing units, and the The multiple sensing units of the rolling shutter sensor are sequentially exposed in a preset order to collect image data; the global shutter sensor includes multiple sensing units, and the multiple sensing units of the global shutter sensor are exposed synchronously To collect image data, the method includes:
  • the global shutter sensor is triggered to perform exposure according to the exposure time information to obtain a target image.
  • an embodiment of the present application further provides an image acquisition device, the image acquisition device includes a rolling shutter sensor, a global shutter sensor, a processor and a memory, the rolling shutter sensor includes a plurality of sensing units, The multiple sensing units of the rolling shutter sensor are sequentially exposed in a preset order to collect image data; the global shutter sensor includes multiple sensing units, and the multiple sensing units of the global shutter sensor Synchronized exposure to capture image data;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • the global shutter sensor is triggered to perform exposure according to the exposure time information to obtain a target image.
  • an embodiment of the present application further provides a movable platform, wherein the movable platform includes:
  • a power system arranged on the platform body, for providing moving power for the movable platform
  • the above-mentioned image acquisition device is provided on the platform body, and is used for acquiring the target image and for controlling the movement of the movable platform.
  • an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned The steps of the exposure control method.
  • Embodiments of the present application provide an exposure control method, device, movable platform, and computer-readable storage medium.
  • determining a target sensing unit from a plurality of sensing units of a rolling shutter sensor, and Exposure time parameters of multiple sensing units determine the exposure time information of the target sensing unit during the exposure process of the rolling shutter sensor, and finally trigger the global shutter sensor to perform exposure according to the exposure time information of the target sensing unit to obtain the target
  • the image can ensure that the exposures of the rolling shutter sensor and the global shutter sensor are synchronized, and it is convenient for subsequent fusion of the image obtained by the exposure of the rolling shutter sensor and the image obtained by the exposure of the global shutter sensor.
  • FIG. 1 is a schematic structural diagram of an electronic device implementing the exposure control method provided by the embodiment of the present application.
  • FIG. 2 is a schematic flowchart of steps of an exposure control method provided by an embodiment of the present application.
  • FIG. 3 is a schematic flow chart of sub-steps of the exposure control method in FIG. 2;
  • FIG. 4 is a schematic diagram of the relationship between the exposure time of the rolling shutter sensor and the image line in the embodiment of the present application;
  • FIG. 5 is a schematic diagram of a scene in which a target sensing unit is determined based on a target exposure time of a candidate sensing unit and multiple work start times of an inertial measurement unit in an embodiment of the present application;
  • FIG. 6 is a schematic diagram of another scenario in which the target sensing unit is determined based on the target exposure time of the candidate sensing unit and multiple work start times of the inertial measurement unit in the embodiment of the present application;
  • FIG. 7 is a schematic diagram of another scenario in which the target sensing unit is determined based on the target exposure time of the candidate sensing unit and the multiple work start times of the inertial measurement unit in the embodiment of the present application;
  • FIG. 8 is a schematic diagram of a scene in which a target exposure time difference is determined based on an exposure start time in an embodiment of the present application
  • FIG. 9 is a schematic diagram of another scenario in which the target exposure time difference is determined based on the exposure start time in an embodiment of the present application.
  • FIG. 10 is a schematic diagram of another scene in which the target exposure time difference is determined based on the exposure start time in the embodiment of the present application;
  • FIG. 11 is a schematic block diagram of the structure of an image acquisition device provided by an embodiment of the present application.
  • FIG. 12 is a schematic structural block diagram of a movable platform provided by an embodiment of the present application.
  • the movable platform can perceive the surrounding environment through multiple vision sensors.
  • the vision sensor can use the global shutter (Global Shutter) or the rolling shutter (Rolling Shutter).
  • Global Shutter global shutter
  • Rolling Shutter rolling shutter
  • the vision sensor using the global shutter can be used.
  • the entire image is exposed at the same time, and the visual sensor of the rolling shutter is used to expose the image line by line, and the exposure time of each line of the image is different. Due to the different exposure control methods of the global shutter and the rolling shutter, the image captured by the visual sensor using the global shutter and the image captured by the visual sensor using the rolling shutter will have the problem of asynchronous exposure time, which will affect the image quality and cause a poor user experience.
  • the embodiments of the present application provide an exposure control method, device, movable platform and computer-readable storage medium, by determining a target sensing unit from a plurality of sensing units of a rolling shutter sensor, and according to Exposure time parameters of multiple sensing units of the rolling shutter sensor, determine the exposure time information of the target sensing unit during the exposure process of the rolling shutter sensor, and finally trigger the global shutter sensor according to the exposure time information of the target sensing unit Performing exposure to obtain the target image can ensure that the exposures of the rolling shutter sensor and the global shutter sensor are synchronized, which facilitates subsequent fusion of the image obtained by the exposure of the rolling shutter sensor and the image obtained by the exposure of the global shutter sensor.
  • FIG. 1 is a schematic structural diagram of an electronic device implementing the exposure control method provided by the embodiment of the present application.
  • the electronic device 100 includes a device body 110 , a rolling shutter sensor 120 provided on the device body 110 and a global shutter sensor 130 provided on the device body 110 .
  • the rolling shutter sensor 120 includes a plurality of sensors The multiple sensing units of the rolling shutter sensor 120 are sequentially exposed in a preset order to collect image data, the global shutter sensor 130 includes multiple sensing units, and the multiple sensing units of the global shutter sensor 130 are exposed synchronously to collect images. data.
  • the electronic device 100 further includes a power system 140 disposed on the device body 110 , the power system 140 is used to provide mobile power for the electronic device 100 , and the electronic device 100 includes a movable platform and a handheld device.
  • Equipment, mobile platforms include drones, unmanned vehicles, and unmanned ships
  • handheld devices include cameras, smartphones, and tablets.
  • one or more of the power systems 140 in the horizontal direction may rotate in a clockwise direction
  • one or more of the power systems 140 in the horizontal direction may rotate in a counterclockwise direction.
  • the rotational rate of the power systems 140 in each horizontal direction can be varied independently to achieve the lifting and/or pushing operations caused by each power system 140 to adjust the spatial orientation, speed and/or acceleration of the electronic device 100 (eg, relative to multiple rotation and translation up to three degrees of freedom).
  • the power system 140 enables the electronic device 100 (drones) to take off vertically from the ground, or to land vertically on the ground, without any horizontal movement of the electronic device 100 (drones) (eg, without taxiing on the runway is required).
  • the power system 140 may allow the electronic device 100 (drone) to preset positions and/or turn the steering wheel in the air.
  • One or more of the powertrains 140 may be controlled independently of the other powertrains 140 .
  • one or more power systems 140 may be controlled simultaneously.
  • the electronic device 100 (unmanned aerial vehicle) may have multiple horizontally oriented power systems 140 to track the lift and/or push of the target.
  • the horizontally oriented power system 140 can be actuated to provide the electronic device 100 (drone) with the ability to take off vertically, land vertically, and hover.
  • the electronic device 100 may also include a sensing system, which may include one or more sensors to sense the spatial orientation, velocity, and/or acceleration of the electronic device 100 (eg, relative to up to three Degree of freedom rotation and translation), angular acceleration, attitude, position (absolute position or relative position), etc.
  • the one or more sensors include GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors.
  • the sensing system may also be used to collect data on the environment in which the electronic device 100 is located, such as climatic conditions, potential obstacles to be approached, locations of geographic features, locations of man-made structures, and the like.
  • the electronic device 100 may further include a processor (not shown in FIG. 1 ), and the processor is configured to process the input control instruction, or send and receive signals, and the like.
  • the processor may be provided inside the device body 110 .
  • the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (application specific integrated circuits) circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the processor can control the exposure of the rolling shutter sensor 120 and the global shutter sensor 130 to capture image data.
  • the multiple A target sensing unit is determined from each sensing unit, and according to the exposure time parameter of the rolling shutter sensor 120, the exposure time information of the target sensing unit is determined during the exposure process of the rolling shutter sensor 120, and finally the exposure time information is determined according to the exposure time information of the rolling shutter sensor 120.
  • the global shutter sensor 130 is triggered to perform exposure to obtain a target image, thereby ensuring that the exposures of the rolling shutter sensor 120 and the global shutter sensor 130 are synchronized.
  • the electronic device in FIG. 1 and the above naming of the components of the electronic device are only for the purpose of identification, and therefore do not limit the embodiments of the present application.
  • the exposure control method provided by the embodiments of the present application will be described in detail with reference to the electronic device in FIG. 1 .
  • the electronic device in FIG. 1 is only used to explain the exposure control method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the exposure control method provided by the embodiment of the present application.
  • FIG. 2 is a schematic flowchart of steps of an exposure control method provided by an embodiment of the present application.
  • the exposure control method can be applied to electronic equipment for controlling the exposure of the rolling shutter sensor and the global shutter sensor to collect image data, so as to ensure the exposure synchronization of the rolling shutter sensor and the global shutter sensor.
  • the exposure control method includes steps S101 to S103.
  • Step S101 determining a target sensing unit from a plurality of sensing units of the rolling shutter sensor
  • Step S102 according to the exposure time parameter of the rolling shutter sensor, determine the exposure time information of the target sensing unit during the exposure process of the rolling shutter sensor;
  • Step S103 triggering the global shutter sensor to perform exposure according to the exposure time information to obtain a target image.
  • the rolling shutter sensor includes multiple sensing units, the multiple sensing units of the rolling shutter sensor are sequentially exposed in a preset order to collect image data, the global shutter sensor includes multiple sensing units, The multiple sensing units of the global shutter sensor are exposed simultaneously to collect image data.
  • the main control is to control the rolling shutter sensor and the global shutter sensor to start exposure at the same time to capture the image.
  • the multiple sensing units of the shutter sensor are sequentially exposed in a preset order to collect image data, and the multiple sensing units of the global shutter sensor are exposed synchronously to collect image data.
  • the exposure of local images is not synchronized, which leads to errors in the subsequent fusion of image data, and it is impossible to accurately locate and track the target.
  • the target sensing unit is determined from a plurality of sensing units of the rolling shutter sensor, and the target sensing unit is determined according to the exposure time parameter of the rolling shutter sensor during the exposure process of the rolling shutter sensor.
  • the global shutter sensor is triggered to perform exposure to obtain the target image, which ensures that the exposure synchronization of the local images in the image data collected by the rolling shutter sensor and the global shutter sensor exposure is convenient for subsequent accurate fusion. In order to improve the positioning effect and tracking effect of electronic equipment.
  • step S101 may include: sub-steps S1011 to S1012.
  • Sub-step S1011 Acquire the first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located.
  • the target object may be determined in the image captured by the rolling shutter sensor, or may be determined in the image captured by the global shutter sensor. It can also be determined from the sampling data of other sensors. For example, one or more sampling points about a specific target are determined in the point cloud data obtained by the radar, and the spatial position of the target object is determined according to the position of the sampling point. The spatial position determines the first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located.
  • the target object includes a salient target in the image collected by the rolling shutter sensor, a specific target, a tracking target currently being tracked, a tracking target re-selected by the user in the image collected by the rolling shutter sensor, etc.
  • the category of the target is located in the preset category library, and the category of the saliency target is different from the category of the specific target.
  • the categories in the preset category library include categories of objects that can be recognized by the object detection algorithm, such as pedestrians, vehicles, and ships.
  • the saliency target is determined according to the saliency of the object in the image captured by the rolling shutter sensor, and when the saliency of the object in the captured image is greater than or equal to a preset saliency
  • a preset saliency When the object is saliency target, it can be determined that the object is not a saliency target when the salience degree of the object in the collected image is less than the preset salience degree.
  • the preset significance level may be set based on the actual situation, which is not specifically limited in this embodiment of the present application.
  • the salience of the object in the image captured by the rolling shutter sensor may be determined according to the duration of the object staying at the preset position in the image. And/or can be determined according to the saliency value between the image area where the object is located in the image captured by the rolling shutter sensor and the adjacent image area. It can be understood that, the longer the staying time of the object at the preset position in the image, the higher the salience of the object in the image, and the shorter the staying time of the object at the preset position in the image, the higher the salience of the object in the image is. The less prominent in this image.
  • the movement speed of the target object is obtained, and the historical 3D position of the target object at the previous moment is obtained; according to the movement speed and the historical 3D position, the target 3D position of the target object at the current moment is predicted; according to the target 3D position, Determine the first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located.
  • the first pixel area of the target object at the current moment in the image coordinate system where the rolling shutter sensor is located can be predicted, so that the subsequent prediction can be made according to the prediction.
  • the target sensing unit is determined in the first pixel area of The exposure synchronization of the local images is convenient for subsequent accurate fusion, so as to improve the positioning effect and tracking effect of electronic equipment.
  • the first pixel area of the target object at the next moment in the image coordinate system where the rolling shutter sensor is located specifically: obtaining the three-dimensional position of the target object at the current moment; The target three-dimensional position of the target object at the next moment is predicted; according to the target three-dimensional position, the first pixel area of the target object at the next moment in the image coordinate system where the rolling shutter sensor is located is determined.
  • the first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located at the next moment can be predicted, so that the subsequent can be based on the predicted first pixel area.
  • a pixel area determines the target sensing unit, and then according to the exposure time information of the target sensing unit, the exposure of the global shutter sensor at the next moment is predicted to ensure that the rolling shutter sensor and the global shutter sensor expose the local part of the image data collected by the global shutter sensor.
  • the exposure of the images is synchronized to facilitate subsequent accurate fusion, so as to improve the positioning effect and tracking effect of electronic equipment.
  • the method of obtaining the motion speed of the target object may be: obtaining the three-dimensional position coordinates of the target object at different times, and determining the three-dimensional position coordinates of the target object at different times and the interval time between adjacent times.
  • the speed of movement of the target object after obtaining the three-dimensional position coordinates of the target object at different times, the Kalman filter algorithm can be used to determine the movement speed of the target object based on the three-dimensional position coordinates of the target object at different times and the interval between adjacent times. , thereby improving the accuracy of the movement speed of the target object, so as to facilitate the subsequent accurate prediction of the target three-dimensional position of the target object at the current moment.
  • the method of obtaining the three-dimensional position of the target object at the current moment may be: obtaining the first image and the second image collected by the global shutter sensor at the current moment; determining the target object from the first image and the second image; Matching pairs of feature points corresponding to multiple spatial points on the system; according to the matching pairs of multiple feature points, the depth information of the target object is determined, and the three-dimensional position of the target object at the current moment is determined according to the depth information of the target object.
  • the global shutter sensor includes a first global shutter sensor and a second global shutter sensor, the first image is an image collected by exposure of the first global shutter sensor, and the second image is an image collected by exposure of the second global shutter sensor.
  • Sub-step S1012 Determine a target sensing unit from a plurality of sensing units of the rolling shutter sensor according to the first pixel area.
  • each sensing unit of the rolling shutter sensor is sequentially exposed in a preset order to obtain a relationship diagram between multiple image lines and exposure times as shown in FIG.
  • One image line corresponds to one second pixel area
  • One second pixel area corresponds to one sensing unit of the rolling shutter sensor
  • the first pixel area 10 corresponding to the target object includes a second pixel area 11 , a second pixel area 12 and a second pixel area 13 .
  • the method of determining the target sensing unit from the multiple sensing units of the rolling shutter sensor may be: acquiring the first pixel area located in the first pixel area. There are two pixel areas, and the sensing unit corresponding to the second pixel area located in the first pixel area is determined as the target sensing unit.
  • the first pixel area 10 corresponding to the target object includes a second pixel area 11 , a second pixel area 12 and a second pixel area 13 . Therefore, the second pixel area 11 , the second pixel area 12 or the sensing unit corresponding to the second pixel area 13 is determined as the target sensing unit.
  • the method of determining the target sensing unit from the multiple sensing units of the rolling shutter sensor may be: obtaining the corresponding center position of the first pixel area.
  • the pixel sub-area of the pixel sub-area; the sensing unit corresponding to the second pixel area overlapping the pixel sub-area is determined as the target sensing unit. For example, as shown in FIG.
  • the first pixel area 10 corresponding to the target object includes a second pixel area 11 , a second pixel area 12 and a second pixel area 13 , and the pixel sub-area corresponding to the center position of the first pixel area is the same as the The second pixel area 12 overlaps, therefore, the sensing unit corresponding to the second pixel area 12 is determined as the target sensing unit.
  • the method of determining the target sensing unit from the multiple sensing units of the rolling shutter sensor may be: according to the first pixel area, from multiple sensing units of the rolling shutter sensor. A plurality of candidate sensing units are determined in the unit; the target exposure time of each candidate sensing unit is obtained, and the sampling time of the inertial measurement unit of the electronic device is obtained; according to the sampling time and the target exposure time of each candidate sensing unit, A target sensing unit is determined from a plurality of candidate sensing units.
  • the target sensing unit can be accurately determined, so that the exposure time of the selected target sensing unit can be synchronized with the sampling time of the inertial measurement unit, which is convenient for subsequent
  • the data collected by the inertial measurement unit, the image data collected by the exposure of the rolling shutter sensor and the image data collected by the exposure of the global shutter sensor are fused.
  • the manner of determining the multiple candidate sensing units from the multiple sensing units of the rolling shutter sensor may be: second pixel area; acquiring a second pixel area located in the first pixel area, and determining a sensing unit corresponding to the second pixel area located in the first pixel area as a candidate sensing unit.
  • the pixel area corresponding to each candidate sensing unit is located in the first pixel area.
  • the first pixel area 10 corresponding to the target object includes a second pixel area 11, a second pixel area 12 and a second pixel area 13. Therefore, the second pixel area 11, the second pixel area
  • the sensing units corresponding to 12 and the second pixel area 13 are determined as candidate sensing units, thereby obtaining three candidate sensing units.
  • the method of determining the target sensing unit from the multiple candidate sensing units may be: determining multiple inertial measurement units according to the sampling time. Work start time, wherein adjacent work start times are separated by the sampling time; according to the target exposure time of each candidate sensing unit and multiple work start times, the target sensor is determined from the multiple candidate sensing units. unit.
  • the target sensing unit can be accurately determined through the target exposure time of the candidate sensing unit and the multiple working start times of the inertial measurement unit, so that the exposure time of the selected target sensing unit can be synchronized with the sampling time of the inertial measurement unit, It is convenient to fuse the data collected by the inertial measurement unit, the image data collected by the exposure of the rolling shutter sensor, and the image data collected by the exposure of the global shutter sensor.
  • the target exposure time of the candidate sensing unit includes any one of the exposure start time, exposure end time and exposure center time of the candidate sensor unit, and the target exposure time of the target sensor unit and a work start time Is the time difference value smaller than the preset time difference value?
  • the preset time difference value can be set based on the actual situation, which is not specifically limited in this embodiment of the present application.
  • the target exposure time of the candidate sensing unit is the exposure start time of the candidate sensor unit.
  • the multiple work start times of the inertial measurement unit are respectively work start time 31 , work start time 31 , and work start time.
  • the exposure start time of the unit is the exposure start time 21, the exposure start time 22 and the exposure start time 23 respectively. Through comparison, it is found that the difference between the exposure start time 21 and the work start time 32 is zero.
  • the candidate sensing unit corresponding to the two-pixel area 11 is determined as the target sensing unit.
  • the target exposure time of the candidate sensing unit is the exposure center time of the candidate sensing unit.
  • the multiple work start times of the inertial measurement unit are work start time 41 and work start time 42 respectively.
  • the exposure start times of the candidate sensing units corresponding to the second pixel area 12 and the second pixel area 13 are the exposure center time 24 , the exposure center time 25 and the exposure center time 26 .
  • the difference value of 45 is zero, therefore, the candidate sensing unit corresponding to the second pixel area 12 is determined as the target sensing unit.
  • the target exposure time of the candidate sensing unit is the exposure end time of the candidate sensing unit.
  • the multiple work start times of the inertial measurement unit are work start time 51 and work start time 52 respectively.
  • work start time 53, work start time 54, work start time 55 and work start time 56, and the second pixel area 11, the second pixel area 12 and the second pixel area 13 correspond to the candidate sensing units of
  • the exposure end time is the exposure end time 27, the exposure end time 28 and the exposure end time 29 respectively.
  • the difference between the exposure end time 29 and the work start time 55 is zero. Therefore, the candidate corresponding to the third pixel area 13
  • the sensing unit is determined as the target sensing unit.
  • the exposure time parameters of the rolling shutter sensor include the exposure waiting time of the rolling shutter sensor, the exposure sequence of the target sensing unit, the exposure time difference between adjacent sensing units, and the exposure time of each sensing unit of the rolling shutter sensor.
  • Exposure duration, the exposure time information of the target sensing unit includes any one of exposure start time, exposure center time, and exposure end time.
  • the exposure start time of the target sensing unit is determined according to the exposure waiting time, the exposure order and the exposure time difference; or, according to the exposure waiting time, the exposure order, the exposure time difference and the exposure duration, Determine the exposure center time or exposure end time of the target sensing unit.
  • the exposure waiting time of the rolling shutter sensor be T blank
  • the exposure sequence of the target sensing unit is n
  • the exposure time difference between adjacent sensing units is ⁇ T
  • the exposure time of each sensing unit of the rolling shutter sensor is The duration is T lexp
  • triggering the global shutter sensor to perform exposure according to the exposure time information to obtain the target image may be: determining the target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure time information; , triggering the global shutter sensor to perform exposure to obtain the target image, that is, after controlling the rolling shutter sensor to start exposure, the target exposure time difference is controlled, and the global shutter sensor is controlled to start exposure to collect image data.
  • the target exposure time difference is spaced, and according to the exposure parameters of the rolling shutter sensor, the global shutter sensor is controlled to start exposure to collect image data, which can further ensure that the rolling shutter sensor and the The exposure synchronization of the local images in the image data collected by the exposure of the global shutter sensor is convenient for subsequent accurate fusion, so as to improve the positioning effect and tracking effect of the electronic device.
  • the method of determining the target exposure time difference between the global shutter sensor and the rolling shutter sensor may be: determining the global shutter sensor and the rolling shutter sensor according to the exposure start time of the target sensing unit. target exposure time difference.
  • the method of determining the target exposure time difference between the global shutter sensor and the rolling shutter sensor may be: according to the exposure center moment of the target sensing unit and the exposure duration of the global shutter sensor, determine the target exposure time difference.
  • the target exposure time difference between the global shutter sensor and the rolling shutter sensor Exemplarily, as shown in FIG. 9 , the exposure duration of the global shutter sensor is T vexp , the sensing unit corresponding to the second pixel area 12 is the target sensing unit, and the exposure center moment of the target sensing unit is the same as that of the rolling shutter.
  • the method of determining the target exposure time difference between the global shutter sensor and the rolling shutter sensor may be: according to the exposure end time of the target sensing unit and the exposure duration of the global shutter sensor, determine the target exposure time difference.
  • the target exposure time difference between the global shutter sensor and the rolling shutter sensor As shown in FIG.
  • the exposure duration of the global shutter sensor is T vexp
  • the sensing unit corresponding to the second pixel area 11 is the target sensing unit
  • the target sensing unit is determined from a plurality of sensing units of the rolling shutter sensor; according to the exposure time parameter of the rolling shutter sensor, during the exposure process of the rolling shutter sensor, the Exposure time information; according to the exposure time information, select the candidate image with the closest time from multiple candidate images as the target image.
  • the multiple candidate images are collected by the global shutter sensor, that is, the global shutter sensor is controlled to start exposure while the rolling shutter sensor is controlled to start exposure, so as to collect multiple candidate images.
  • the exposure time information of the target sensing unit to select the candidate image with the closest time from the multiple candidate images as the target image, the exposure synchronization of the image data collected by the rolling shutter sensor and the global shutter sensor can be ensured, which is convenient for subsequent accurate fusion. , in order to improve the positioning effect and tracking effect of electronic equipment.
  • the exposure time information includes any one of the exposure start time, the exposure center time, and the exposure end time of the target sensing unit, and the candidate image with the closest time is selected from the multiple candidate images according to the exposure time information.
  • the candidate image that is closest to the exposure start time, the exposure center time or the exposure end time can be selected from the plurality of candidate images as the target image.
  • the exposure start time, exposure center time and exposure end time of the target sensing unit are t 1 , t 2 and t 3 respectively, and the exposure start time, exposure center time and exposure end time of the candidate image 1 are respectively t 1 -1 , t 1-2 and t 1-3 , the exposure start time, exposure center time and exposure end time of candidate image 2 are respectively t 2-1 , t 2-2 and t 2-3 , and the exposure time of candidate image 3 is The exposure start time, exposure center time and exposure end time are respectively t 3-1 , t 3-2 and t 3-3 , if t 1-1 in t 1-1 , t 2-1 and t 3-1
  • the candidate image 1 is determined as the target image which is closest to the exposure start time t 1 of the target sensing unit, and if t 2-2 in t 1-2 , t 2-2 and t 3-2 is the same as the target image If the exposure center time t 2 of the sensing unit is the closest , the candidate image 2 is determined as the target
  • the target sensing unit is determined from the multiple sensing units of the rolling shutter sensor, and according to the exposure time parameter of the rolling shutter sensor, it is determined that during the exposure process of the rolling shutter sensor, Exposure time information of the target sensing unit, and finally trigger the global shutter sensor to perform exposure according to the exposure time information to obtain the target image, ensuring that the exposure synchronization of the partial images in the image data collected by the rolling shutter sensor and the global shutter sensor exposure is convenient for subsequent Accurate fusion to improve positioning and tracking of electronic devices.
  • FIG. 11 is a schematic structural block diagram of an image acquisition apparatus provided by an embodiment of the present application.
  • the image acquisition device 200 includes a rolling shutter sensor 201 , a global shutter sensor 202 , a processor 203 and a memory 204 , and the rolling shutter sensor 201 , the global shutter sensor 202 , the processor 203 and the memory 204 are connected through a bus 205 , the bus 205 is, for example, an I2C (Inter-integrated Circuit) bus.
  • the rolling shutter sensor 201 includes multiple sensing units, and the multiple sensing units of the rolling shutter sensor 201 are sequentially exposed in a preset sequence to collect image data; the global shutter sensor 202 includes multiple sensing units, and the global shutter sensor 202 includes multiple sensing units. The multiple sensing units of 202 are exposed simultaneously to acquire image data.
  • the processor 203 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 204 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a removable hard disk, or the like.
  • ROM Read-Only Memory
  • the memory 204 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a removable hard disk, or the like.
  • the processor 203 is used for running the computer program stored in the memory 204, and implements the following steps when executing the computer program:
  • the global shutter sensor is triggered to perform exposure according to the exposure time information to obtain a target image.
  • the processor when the processor determines a target sensing unit from a plurality of sensing units of the rolling shutter sensor, the processor is configured to implement:
  • a target sensing unit is determined from a plurality of sensing units of the rolling shutter sensor according to the first pixel area.
  • the processor when the processor determines a target sensing unit from a plurality of sensing units of the rolling shutter sensor according to the first pixel area, the processor is configured to implement:
  • a target sensing unit is determined from a plurality of sensing units of the rolling shutter sensor according to the first pixel area and each of the second pixel areas.
  • the processor determines a target sensing unit from a plurality of sensing units of the rolling shutter sensor according to the first pixel area and each of the second pixel areas, use To achieve:
  • a sensing unit corresponding to the second pixel area overlapping with the pixel sub-area is determined as the target sensing unit.
  • the processor when the processor determines a target sensing unit from a plurality of sensing units of the rolling shutter sensor according to the first pixel area, the processor is configured to implement:
  • a target sensing unit is determined from the plurality of candidate sensing units according to the sampling time and the target exposure time of each of the candidate sensing units.
  • the target exposure time includes any one of an exposure start time, an exposure end time, and an exposure center time.
  • the processor is configured to determine a target sensing unit from the plurality of candidate sensing units according to the sampling time and the target exposure time of each candidate sensing unit, for implementing :
  • a target sensing unit is determined from the plurality of candidate sensing units according to the target exposure time and the plurality of work start times.
  • the time difference between the target exposure time of the target sensing unit and one of the working start times is less than a preset time difference.
  • the pixel area corresponding to each of the candidate sensing units is located in the first pixel area.
  • the processor when the processor acquires the first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located, the processor is configured to:
  • a first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located is determined.
  • the exposure time parameter includes the exposure waiting time of the rolling shutter sensor, the exposure sequence of the target sensing unit, the exposure time difference between adjacent sensing units, the exposure time of each sensing unit Exposure duration, when the processor determines the exposure time information of the target sensing unit during the exposure process of the rolling shutter sensor according to the exposure time parameter of the rolling shutter sensor, is used to achieve:
  • the exposure waiting time the exposure sequence, the exposure time difference and the exposure duration, the exposure center time or the exposure end time of the target sensing unit is determined.
  • the processor when the processor triggers the global shutter sensor to perform exposure according to the exposure time information to obtain a target image, the processor is configured to:
  • the global shutter sensor is triggered to perform exposure to obtain a target image.
  • the processor when the processor realizes that the target exposure time difference between the global shutter sensor and the rolling shutter sensor is determined according to the exposure time information, it is used to realize:
  • a target exposure time difference between the global shutter sensor and the rolling shutter sensor is determined according to the exposure end time of the target sensing unit and the exposure duration of the global shutter sensor.
  • FIG. 12 is a schematic structural block diagram of a movable platform provided by an embodiment of the present application.
  • the movable platform 300 includes a platform body 310 , a power system 320 provided on the platform body 310 and an image acquisition device 330 provided on the platform body 310 , and the power system 320 is used to provide the movable platform 300 with movement Power, the image acquisition device 330 is used for acquiring the target image and for controlling the movable platform 300 to move.
  • the movable platform 300 includes unmanned aerial vehicles, unmanned ships, and unmanned vehicles.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments.
  • the steps of the exposure control method are described in detail below.
  • the computer-readable storage medium may be an internal storage unit of the electronic device described in any of the foregoing embodiments, such as a hard disk or a memory of the electronic device.
  • the computer-readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the electronic device ) card, Flash Card, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)

Abstract

一种曝光控制方法、装置、可移动平台及计算机可读存储介质，该方法包括：从卷帘快门传感器的多个传感单元中确定目标传感单元(S101)；确定在卷帘快门传感器的曝光过程中，目标传感单元的曝光时间信息(S102)；根据曝光时间信息触发全局快门传感器进行曝光(S103)。本申请能够保证卷帘快门传感器和全局快门传感器的曝光同步。

Description

曝光控制方法、装置、可移动平台及计算机可读存储介质 技术领域
本申请涉及曝光控制技术领域，尤其涉及一种曝光控制方法、装置、可移动平台及计算机可读存储介质。
背景技术
目前，可移动平台可以通过多个视觉传感器来感知周围的环境，视觉传感器可以使用全局快门(Global Shutter)，也可以使用卷帘快门(Rolling Shutter)，在采集图像时，使用全局快门的视觉传感器对整张图像同时曝光，使用卷帘快门的视觉传感器对图像进行逐行曝光，图像的每行的曝光时刻不一样。由于全局快门和卷帘快门的曝光控制方式不同，因此使用全局快门的视觉传感器和使用卷帘快门视觉传感器采集到的图像会存在曝光时刻不同步的问题，影响图像质量，用户体验不好。
发明内容
基于此，本申请实施例提供了一种曝光控制方法、装置、可移动平台及计算机可读存储介质，旨在保证卷帘快门传感器和全局快门传感器的曝光同步。
第一方面，本申请实施例提供了一种曝光控制方法，应用于电子设备，所述电子设备包括卷帘快门传感器和全局快门传感器，所述卷帘快门传感器包括多个传感单元，所述卷帘快门传感器的多个所述传感单元按照预设顺序依次曝光以采集图像数据；所述全局快门传感器包括多个传感单元，所述全局快门传感器的多个所述传感单元同步曝光以采集图像数据，所述方法包括:
从所述卷帘快门传感器的多个传感单元中确定目标传感单元；
根据所述卷帘快门传感器的曝光时间参数，确定在所述卷帘快门传感器的曝光过程中，所述目标传感单元的曝光时间信息；
根据所述曝光时间信息触发所述全局快门传感器进行曝光以得到目标图像。
第二方面，本申请实施例还提供了一种图像采集装置，所述图像采集装置包括卷帘快门传感器、全局快门传感器、处理器和存储器，所述卷帘快门传感器包括多个传感单元，所述卷帘快门传感器的多个所述传感单元按照预设顺序依次曝光以采集图像数据；所述全局快门传感器包括多个传感单元，所述全局 快门传感器的多个所述传感单元同步曝光以采集图像数据；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
从所述卷帘快门传感器的多个传感单元中确定目标传感单元；
根据所述卷帘快门传感器的曝光时间参数，确定在所述卷帘快门传感器的曝光过程中，所述目标传感单元的曝光时间信息；
根据所述曝光时间信息触发所述全局快门传感器进行曝光以得到目标图像。
第三方面，本申请实施例还提供了一种可移动平台，其特征在于，所述可移动平台包括：
平台本体；
动力系统，设于所述平台本体上，用于为所述可移动平台提供移动动力；
如上所述的图像采集装置，设于所述平台本体上，用于采集目标图像以及用于控制所述可移动平台移动。
第四方面，本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上所述的曝光控制方法的步骤。
本申请实施例提供了一种曝光控制方法、装置、可移动平台及计算机可读存储介质，通过从卷帘快门传感器的多个传感单元中确定目标传感单元，并根据卷帘快门传感器的多个传感单元的曝光时间参数，确定在卷帘快门传感器的曝光过程中，该目标传感单元的曝光时间信息，最后根据目标传感单元的曝光时间信息触发全局快门传感器进行曝光以得到目标图像，可以保证卷帘快门传感器和全局快门传感器的曝光同步，便于后续对通过卷帘快门传感器曝光得到图像和通过全局快门传感器曝光得到的图像进行融合。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是实施本申请实施例提供的曝光控制方法的电子设备的一结构示意图；
图2是本申请实施例提供的一种曝光控制方法的步骤示意流程图；
图3是图2中的曝光控制方法的子步骤示意流程图；
图4是本申请实施例中卷帘快门传感器的曝光时刻与图像行之间的关系示意图；
图5是本申请实施例中基于候选传感单元的目标曝光时刻和惯性测量单元的多个工作起始时刻确定目标传感单元的一场景示意图；
图6是本申请实施例中基于候选传感单元的目标曝光时刻和惯性测量单元的多个工作起始时刻确定目标传感单元的另一场景示意图；
图7是本申请实施例中基于候选传感单元的目标曝光时刻和惯性测量单元的多个工作起始时刻确定目标传感单元的另一场景示意图；
图8是本申请实施例中基于曝光起始时刻确定目标曝光时间差的一场景示意图；
图9是本申请实施例中基于曝光起始时刻确定目标曝光时间差的另一场景示意图；
图10是本申请实施例中基于曝光起始时刻确定目标曝光时间差的另一场景示意图；
图11是本申请实施例提供的一种图像采集装置的结构示意性框图；
图12是本申请实施例提供的一种可移动平台的结构示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
目前，可移动平台可以通过多个视觉传感器来感知周围的环境，视觉传感器可以使用全局快门(Global Shutter)，也可以使用卷帘快门(Rolling Shutter)， 在采集图像时，使用全局快门的视觉传感器对整张图像同时曝光，使用卷帘快门的视觉传感器对图像进行逐行曝光，图像的每行的曝光时刻不一样。由于全局快门和卷帘快门的曝光控制方式不同，因此使用全局快门的视觉传感器和使用卷帘快门视觉传感器采集到的图像会存在曝光时刻不同步的问题，影响图像质量，用户体验不好。
为解决上述问题，本申请实施例提供了一种曝光控制方法、装置、可移动平台及计算机可读存储介质，通过从卷帘快门传感器的多个传感单元中确定目标传感单元，并根据卷帘快门传感器的多个传感单元的曝光时间参数，确定在卷帘快门传感器的曝光过程中，该目标传感单元的曝光时间信息，最后根据目标传感单元的曝光时间信息触发全局快门传感器进行曝光以得到目标图像，可以保证卷帘快门传感器和全局快门传感器的曝光同步，便于后续对通过卷帘快门传感器曝光得到图像和通过全局快门传感器曝光得到的图像进行融合。
请参阅图1，图1是实施本申请实施例提供的曝光控制方法的电子设备的一结构示意图。
如图1所示，该电子设备100包括设备本体110、设于设备本体110上的卷帘快门传感器120和设于设备本体110上的全局快门传感器130，卷帘快门传感器120包括多个传感单元，卷帘快门传感器120的多个传感单元按照预设顺序依次曝光以采集图像数据，全局快门传感器130包括多个传感单元，全局快门传感器130的多个传感单元同步曝光以采集图像数据。
在一实施例中，如图1所示，电子设备100还包括设于设备本体110上的动力系统140，动力系统140用于为电子设备100提供移动动力，电子设备100包括可移动平台和手持设备，可移动平台包括无人机、无人车和无人船等，手持设备包括相机、智能手机和平板电脑等。其中，水平方向的动力系统140中的一个或者多个可以顺时针方向旋转，而水平方向的动力系统140中的其它一个或者多个可以逆时针方向旋转。例如，顺时针旋转的动力系统140与逆时针旋转的动力系统140的数量一样。每一个水平方向的动力系统140的旋转速率可以独立变化，以实现每个动力系统140导致的提升及/或推动操作，从而调整电子设备100的空间方位、速度及/或加速度(如相对于多达三个自由度的旋转及平移)。
在一实施例中，动力系统140能够使电子设备100(无人机)垂直地从地面起飞，或者垂直地降落在地面上，而不需要电子设备100(无人机)任何水平运动(如不需要在跑道上滑行)。可选的，动力系统140可以允许电子设备 100(无人机)在空中预设位置和/或方向盘旋。一个或者多个动力系统140在受到控制时可以独立于其它的动力系统140。可选的，一个或者多个动力系统140可以同时受到控制。例如，电子设备100(无人机)可以有多个水平方向的动力系统140，以追踪目标的提升及/或推动。水平方向的动力系统140可以被致动以提供电子设备100(无人机)垂直起飞、垂直降落、盘旋的能力。
在一实施例中，电子设备100还可以包括传感系统，传感系统可以包括一个或者多个传感器，以感测电子设备100的空间方位、速度及/或加速度(如相对于多达三个自由度的旋转及平移)、角加速度、姿态、位置(绝对位置或者相对位置)等。所述一个或者多个传感器包括GPS传感器、运动传感器、惯性传感器、近程传感器或者影像传感器。可选的，传感系统还可以用于采集电子设备100所处的环境数据，如气候条件、要接近的潜在的障碍、地理特征的位置、人造结构的位置等。
在一实施例中，电子设备100还可以包括处理器(图1中未示出)，处理器用于对输入的控制指令进行处理，或者收发信号等。处理器可以设置在设备本体110的内部。可选地，该处理器可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
在一实施例中，处理器能够控制卷帘快门传感器120和全局快门传感器130曝光以采集图像数据，为了保证卷帘快门传感器120和全局快门传感器130的曝光同步，从卷帘快门传感器120的多个传感单元中确定目标传感单元，并根据卷帘快门传感器120的曝光时间参数，确定在卷帘快门传感器120的曝光过程中，该目标传感单元的曝光时间信息，最后根据曝光时间信息触发全局快门传感器130进行曝光以得到目标图像，进而保证卷帘快门传感器120和全局快门传感器130的曝光同步。
可以理解的是，图1中的电子设备以及上述对于电子设备各部件的命名仅仅出于标识的目的，并不因此对本申请实施例进行限制。以下，将结合图1中的电子设备对本申请的实施例提供的曝光控制方法进行详细介绍。需知，图1中的电子设备仅用于解释本申请实施例提供的曝光控制方法，但并不构成对本申请实施例提供的曝光控制方法应用场景的限定。
请参阅图2，图2是本申请实施例提供的一种曝光控制方法的步骤示意流程图。该曝光控制方法可以应用于电子设备中，用于控制卷帘快门传感器和全局快门传感器曝光以采集图像数据，保证卷帘快门传感器和全局快门传感器的曝光同步。
如图1所示，该曝光控制方法包括步骤S101至步骤S103。
步骤S101、从所述卷帘快门传感器的多个传感单元中确定目标传感单元；
步骤S102、根据所述卷帘快门传感器的曝光时间参数，确定在所述卷帘快门传感器的曝光过程中，所述目标传感单元的曝光时间信息；
步骤S103、根据所述曝光时间信息触发所述全局快门传感器进行曝光以得到目标图像。
其中，所述卷帘快门传感器包括多个传感单元，所述卷帘快门传感器的多个传感单元按照预设顺序依次曝光以采集图像数据，所述全局快门传感器包括多个传感单元，所述全局快门传感器的多个传感单元同步曝光以采集图像数据。
在一些场景下，需要对通过卷帘快门传感器曝光得到图像和通过全局快门传感器曝光得到的图像进行融合，目前主要是控制卷帘快门传感器和全局快门传感器同时开始进行曝光以采集图像，由于卷帘快门传感器的多个传感单元是按照预设顺序依次曝光以采集图像数据的，且全局快门传感器的多个传感单元是同步曝光以采集图像数据的，这会导致采集到的图像数据中的局部图像的曝光不同步，进而导致后续对图像数据进行融合时出现错误，无法准确的定位和跟踪目标。
为解决上述问题，通过从卷帘快门传感器的多个传感单元中确定目标传感单元，并根据卷帘快门传感器的曝光时间参数，确定在卷帘快门传感器的曝光过程中，目标传感单元的曝光时间信息，最后根据曝光时间信息触发全局快门传感器进行曝光以得到目标图像，保证卷帘快门传感器和全局快门传感器曝光采集到的图像数据中的局部图像的曝光同步，便于后续准确地融合，以提高电子设备的定位效果和跟踪效果。
在一实施例中，如图3所示，步骤S101可以包括：子步骤S1011至S1012。
子步骤S1011、获取目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域。
目标对象可以是在卷帘快门传感器采集的图像中确定的，也可以是在全局快门传感器采集的图像中确定的。亦可以是由其他传感器的采样数据中确定的，例如，雷达获取的点云数据中确定关于特定目标的一个或者多个采样点，根据 所述采样点的位置，确定目标对象的空间位置，根据所述空间位置确定目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域。
其中，所述目标对象包括卷帘快门传感器采集到的图像中的显著性目标、特定目标、当前正在跟踪的跟踪目标、用户在卷帘快门传感器采集到的图像中重新选择的跟踪目标等，特定目标的类别位于预设类别库，且显著性目标的类别与特定目标的类别不同。预设类别库中的类别包括能够通过目标检测算法识别到的对象的类别，例如，行人、车辆和船舶等。
在一实施例中，显著性目标是依据卷帘快门传感器采集到的图像中的对象在该图像中的显著程度确定的，当对象在采集到的图像中的显著程度大于或等于预设显著程度时，可以确定该对象为显著性目标，而当对象在采集到的图像中的显著程度小于预设显著程度时，可以确定该对象不为显著性目标。其中，预设显著程度可基于实际情况进行设置，本申请实施例对此不做具体限定。
在一实施例中，对象在卷帘快门传感器采集到的图像中的显著程度可以根据对象在该图像中的预设位置的停留时长确定。和/或可以根据对象在卷帘快门传感器采集到的图像中所处的图像区域与相邻图像区域之间的显著性值确定。可以理解的是，对象在该图像中的预设位置的停留时长越长，则对象在该图像中的显著程度越高，而对象在该图像中的预设位置的停留时长越短，则对象在该图像中的显著程度越低。对象在该图像中所处的图像区域与相邻图像区域之间的显著性值越大，则对象在该图像中的显著程度越高，而对象在该图像中所处的图像区域与相邻图像区域之间的显著性值越小，则对象在该图像中的显著程度越低。
在一实施例中，获取目标对象的运动速度，并获取目标对象在上一时刻的历史三维位置；根据运动速度和历史三维位置，预测目标对象在当前时刻的目标三维位置；根据目标三维位置，确定目标对象在卷帘快门传感器所处的图像坐标系下的第一像素区域。通过目标对象的运动速度和目标对象在上一时刻的历史三维位置，可以预测当前时刻下的目标对象在卷帘快门传感器所处的图像坐标系下的第一像素区域，从而使得后续能够根据预测的第一像素区域确定目标传感单元，进而根据目标传感单元的曝光时间信息，预测得到全局快门传感器在当前时刻下的曝光，保证卷帘快门传感器和全局快门传感器曝光采集到的图像数据中的局部图像的曝光同步，便于后续准确地融合，以提高电子设备的定位效果和跟踪效果。
类似的，也可以预测下一时刻的目标对象在卷帘快门传感器所处的图像坐 标系下的第一像素区域，具体为：获取目标对象在当前时刻的三维位置；根据运动速度和三维位置，预测目标对象在下一时刻的目标三维位置；根据目标三维位置，确定下一时刻的目标对象在卷帘快门传感器所处的图像坐标系下的第一像素区域。通过目标对象的运动速度和目标对象在当前时刻的三维位置，可以预测下一时刻的目标对象在卷帘快门传感器所处的图像坐标系下的第一像素区域，从而使得后续能够根据预测的第一像素区域确定目标传感单元，进而根据目标传感单元的曝光时间信息，预测得到全局快门传感器在下一时刻下的曝光，保证卷帘快门传感器和全局快门传感器曝光采集到的图像数据中的局部图像的曝光同步，便于后续准确地融合，以提高电子设备的定位效果和跟踪效果。
在一实施例中，获取目标对象的运动速度的方式可以为：获取目标对象在不同时刻的三维位置坐标，并根据目标对象在不同时刻的三维位置坐标和相邻时刻之间的间隔时长，确定目标对象的运动速度。其中，在获取到目标对象在不同时刻的三维位置坐标后，可以通过卡尔曼滤波器算法，基于目标对象在不同时刻的三维位置坐标和相邻时刻之间的间隔时长，确定目标对象的运动速度，进而提高目标对象的运动速度的准确性，便于后续准确地预测目标对象在当前时刻的目标三维位置。
在一实施例中，获取目标对象在当前时刻的三维位置的方式可以为：获取全局快门传感器在当前时刻采集到的第一图像和第二图像；从第一图像和第二图像中确定目标对象上的多个空间点对应的特征点匹配对；根据多个特征点匹配对，确定目标对象的深度信息，并根据目标对象的深度信息，确定目标对象在当前时刻的三维位置。其中，全局快门传感器包括第一全局快门传感器和第二全局快门传感器，第一图像是第一全局快门传感器曝光采集到的图像，第二图像是第二全局快门传感器曝光采集到的图像。
子步骤S1012、根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元。
示例性的，获取卷帘快门传感器的每个传感单元各自对应的第二像素区域；根据第一像素区域和每个第二像素区域，从卷帘快门传感器的多个传感单元中确定目标传感单元。可以理解的是，由于卷帘快门传感器的多个传感单元是按照预设顺序依次曝光以采集图像数据的，因此，在卷帘快门传感器采集到的图像中具有每个传感单元对应的第二像素区域，且第二像素区域可以是图像行、图像列或者图像块，本申请实施例对此不做具体限定。示例性的，卷帘快门传感器的每个传感单元按照预设顺序依次曝光得到如图4所示的多个图像行与曝 光时刻之间的关系图，一个图像行对应一个第二像素区域，一个第二像素区域与卷帘快门传感器的一个传感单元对应，目标对象对应的第一像素区域10包括第二像素区域11、第二像素区域12和第二像素区域13。
在一实施例中，根据第一像素区域和每个第二像素区域，从卷帘快门传感器的多个传感单元中确定目标传感单元的方式可以为：获取位于第一像素区域内的第二像素区域，并将位于第一像素区域内的第二像素区域对应的传感单元确定为目标传感单元。例如，如图4所示，目标对象对应的第一像素区域10包括第二像素区域11、第二像素区域12和第二像素区域13，因此，可以将第二像素区域11、第二像素区域12或第二像素区域13对应的传感单元确定为目标传感单元。
在一实施例中，根据第一像素区域和每个第二像素区域，从卷帘快门传感器的多个传感单元中确定目标传感单元的方式可以为：获取第一像素区域的中心位置对应的像素子区域；将与该像素子区域重叠的第二像素区域对应的传感单元确定为目标传感单元。例如，如图4所示，目标对象对应的第一像素区域10包括第二像素区域11、第二像素区域12和第二像素区域13，且第一像素区域的中心位置对应的像素子区域与第二像素区域12重叠，因此，将第二像素区域12对应的传感单元确定为目标传感单元。
在一实施例中，根据第一像素区域，从卷帘快门传感器的多个传感单元中确定目标传感单元的方式可以为：根据第一像素区域，从卷帘快门传感器的多个传感单元中确定多个候选传感单元；获取每个候选传感单元的目标曝光时刻，并获取电子设备的惯性测量单元的采样时间；根据该采样时间和每个候选传感单元的目标曝光时刻，从多个候选传感单元中确定目标传感单元。通过惯性测量单元的采样时间和每个候选传感单元的目标曝光时刻，可以准确地确定目标传感单元，使得选择的目标传感单元的曝光时刻能够与惯性测量单元的采样时间同步，便于后续对惯性测量单元采集到的数据、卷帘快门传感器曝光采集到的图像数据和全局快门传感器曝光采集到的图像数据进行融合。
在一实施例中，根据第一像素区域，从卷帘快门传感器的多个传感单元中确定多个候选传感单元的方式可以为：获取卷帘快门传感器的每个传感单元各自对应的第二像素区域；获取位于第一像素区域内的第二像素区域，并将位于第一像素区域内的第二像素区域对应的传感单元确定为候选传感单元。其中，每个候选传感单元各自对应的像素区域均位于第一像素区域。例如，如图4所示，目标对象对应的第一像素区域10包括第二像素区域11、第二像素区域12 和第二像素区域13，因此，可以将第二像素区域11、第二像素区域12和第二像素区域13对应的传感单元确定为候选传感单元，从而得到三个候选传感单元。
在一实施例中，根据采样时间和每个候选传感单元的目标曝光时刻，从多个候选传感单元中确定目标传感单元的方式可以为：根据该采样时间确定惯性测量单元的多个工作起始时刻，其中，相邻工作起始时刻间隔所述采样时间；根据每个候选传感单元的目标曝光时刻和多个工作起始时刻，从多个候选传感单元中确定目标传感单元。通过候选传感单元的目标曝光时刻和惯性测量单元的多个工作起始时刻，可以准确地确定目标传感单元，使得选择的目标传感单元的曝光时刻能够与惯性测量单元的采样时间同步，便于后续对惯性测量单元采集到的数据、卷帘快门传感器曝光采集到的图像数据和全局快门传感器曝光采集到的图像数据进行融合。
其中，候选传感单元的目标曝光时刻包括候选传感单元的曝光起始时刻、曝光结束时刻和曝光中心时刻中的任一项，目标传感单元的目标曝光时刻与一个工作起始时刻之间的时间差值小于预设时间差值吗，预设时间差值可基于实际情况进行设置，本申请实施例对此不做具体限定。
示例性的，候选传感单元的目标曝光时刻为候选传感单元的曝光起始时刻，如图5所示，惯性测量单元的多个工作起始时刻分别为工作起始时刻31、工作起始时刻32、工作起始时刻33、工作起始时刻34、工作起始时刻35和工作起始时刻36，且第二像素区域11、第二像素区域12和第二像素区域13对应的候选传感单元的曝光起始时刻分别为曝光起始时刻21、曝光起始时刻22和曝光起始时刻23，通过比较发现曝光起始时刻21与工作起始时刻32的差值为零，因此，将第二像素区域11对应的候选传感单元确定为目标传感单元。
示例性，候选传感单元的目标曝光时刻为候选传感单元的曝光中心时刻，如图6所示，惯性测量单元的多个工作起始时刻分别为工作起始时刻41、工作起始时刻42、工作起始时刻43、工作起始时刻44、工作起始时刻45、工作起始时刻46、工作起始时刻47、工作起始时刻48和工作起始时刻49，且第二像素区域11、第二像素区域12和第二像素区域13对应的候选传感单元的曝光起始时刻为曝光中心时刻24、曝光中心时刻25和曝光中心时刻26，通过比较发现曝光中心时刻25与工作起始时刻45的差值为零，因此，将第二像素区域12对应的候选传感单元确定为目标传感单元。
示例性，候选传感单元的目标曝光时刻为候选传感单元的曝光结束时刻，如图7所示，惯性测量单元的多个工作起始时刻分别为工作起始时刻51、工作 起始时刻52、工作起始时刻53、工作起始时刻54、工作起始时刻55和工作起始时刻56，且第二像素区域11、第二像素区域12和第二像素区域13对应的候选传感单元的曝光结束时刻分别为曝光结束时刻27、曝光结束时刻28和曝光结束时刻29，通过比较发现曝光结束时刻29与工作起始时刻55的差值为零，因此，将第三像素区域13对应的候选传感单元确定为目标传感单元。
其中，卷帘快门传感器的曝光时间参数包括卷帘快门传感器的曝光等待时长、目标传感单元的曝光次序、相邻传感单元的曝光时间差值和卷帘快门传感器的每个传感单元的曝光持续时长，目标传感单元的曝光时间信息包括曝光起始时刻、曝光中心时刻和曝光结束时刻中的任一项。
在一实施例中，根据该曝光等待时长、曝光次序和曝光时间差值，确定目标传感单元的曝光起始时刻；或者，根据曝光等待时长、曝光次序、曝光时间差值和曝光持续时长，确定目标传感单元的曝光中心时刻或曝光结束时刻。其中，设卷帘快门传感器的曝光等待时长为T blank，目标传感单元的曝光次序为n，相邻传感单元的曝光时间差值为ΔT，卷帘快门传感器的每个传感单元的曝光持续时长为T lexp，则目标传感单元的曝光起始时刻为t 1＝T blank+(n-1)*ΔT，目标传感单元的曝光中心时刻为t 2＝T blank+(n-1)*ΔT+T lexp/2，目标传感单元的曝光结束时刻为t 3＝T blank+(n-1)*ΔT+T lexp。
在一实施例中，根据曝光时间信息触发全局快门传感器进行曝光以得到目标图像的方式可以为：根据曝光时间信息，确定全局快门传感器与卷帘快门传感器之间的目标曝光时间差；根据目标曝光时间差，触发全局快门传感器进行曝光以得到目标图像，即在控制卷帘快门传感器开始曝光后间隔该目标曝光时间差，控制全局快门传感器开始曝光以采集图像数据。通过在控制卷帘快门传感器开始曝光后间隔该目标曝光时间差，控制全局快门传感器开始曝光以采集图像数据，可以保证卷帘快门传感器和全局快门传感器曝光采集到的图像数据中的局部图像的曝光同步，便于后续准确地融合，以提高电子设备的定位效果和跟踪效果。
在一实施例中，在控制卷帘快门传感器开始曝光后间隔该目标曝光时间差，根据卷帘快门传感器的曝光参数，控制全局快门传感器开始曝光以采集图像数据，可以进一步地保证卷帘快门传感器和全局快门传感器曝光采集到的图像数据中的局部图像的曝光同步，便于后续准确地融合，以提高电子设备的定位效果和跟踪效果。
在一实施例中，根据曝光时间信息，确定全局快门传感器与卷帘快门传感 器之间的目标曝光时间差的方式可以为：根据目标传感单元的曝光起始时刻确定全局快门传感器与卷帘快门传感器之间的目标曝光时间差。示例性的，如图8所示，第二像素区域13对应的传感单元为目标传感单元，且目标传感单元的曝光起始时刻与卷帘快门传感器的曝光起始时刻对齐，则全局快门传感器的目标曝光时间差可以表示为T trig＝t 1＝T blank+(n-1)*ΔT。
在一实施例中，根据曝光时间信息，确定全局快门传感器与卷帘快门传感器之间的目标曝光时间差的方式可以为：根据目标传感单元的曝光中心时刻和全局快门传感器的曝光持续时长，确定全局快门传感器与卷帘快门传感器之间的目标曝光时间差。示例性的，如图9所示，全局快门传感器的曝光持续时长为T vexp，第二像素区域12对应的传感单元为目标传感单元，且目标传感单元的曝光中心时刻与卷帘快门传感器的曝光中心时刻对齐，则全局快门传感器的目标曝光时间差可以表示为T trig＝t 2-T vexp/2＝T blank+(n-1)*ΔT-T vexp/2。
在一实施例中，根据曝光时间信息，确定全局快门传感器与卷帘快门传感器之间的目标曝光时间差的方式可以为：根据目标传感单元的曝光结束时刻和全局快门传感器的曝光持续时长，确定全局快门传感器与卷帘快门传感器之间的目标曝光时间差。如图10所示，全局快门传感器的曝光持续时长为T vexp，第二像素区域11对应的传感单元为目标传感单元，且目标传感单元的曝光结束时刻与卷帘快门传感器的曝光结束时刻对齐，则全局快门传感器的目标曝光时间差可以表示为T trig＝t 3-T vexp＝T blank+(n-1)*ΔT-T vexp。
在一实施例中，从卷帘快门传感器的多个传感单元中确定目标传感单元；根据卷帘快门传感器的曝光时间参数，确定在卷帘快门传感器的曝光过程中，目标传感单元的曝光时间信息；根据曝光时间信息从多张候选图像中选取时间最接近的候选图像作为目标图像。其中，该多张候选图像是通过全局快门传感器采集到的，也即在控制卷帘快门传感器开始进行曝光的同时控制全局快门传感器开始进行曝光，以采集得到多张候选图像。通过目标传感单元的曝光时间信息从多张候选图像中选取时间最接近的候选图像作为目标图像，可以保证卷帘快门传感器和全局快门传感器采集到的图像数据的曝光同步，便于后续准确地融合，以提高电子设备的定位效果和跟踪效果。
在一实施例中，曝光时间信息包括目标传感单元的曝光起始时刻、曝光中心时刻和曝光结束时刻中的任一项，根据曝光时间信息从多张候选图像中选取时间最接近的候选图像作为目标图像的方式可以为：从多张候选图像中选取曝光起始时刻、曝光中心时刻或曝光结束时刻最接近的候选图像作为目标图像。 例如，目标传感单元的曝光起始时刻、曝光中心时刻和曝光结束时刻分别为t 1、t 2和t 3，候选图像1的曝光起始时刻、曝光中心时刻和曝光结束时刻分别为t 1-1、t 1-2和t 1-3，候选图像2的曝光起始时刻、曝光中心时刻和曝光结束时刻分别为t 2-1、t 2-2和t 2-3，候选图像3的曝光起始时刻、曝光中心时刻和曝光结束时刻分别为t 3-1、t 3-2和t 3-3，如果t 1-1、t 2-1和t 3-1中的t 1-1与目标传感单元的曝光起始时刻t 1最接近，则将候选图像1确定为目标图像，而如果t 1-2、t 2-2和t 3-2中的t 2-2与目标传感单元的曝光中心时刻t 2最接近，则将候选图像2确定为目标图像，如果t 1-3、t 2-3和t 3-3中的t 3-3与目标传感单元的曝光结束时刻t 3最接近，则将候选图像3确定为目标图像。
上述实施例提供的曝光控制方法，通过从卷帘快门传感器的多个传感单元中确定目标传感单元，并根据卷帘快门传感器的曝光时间参数，确定在卷帘快门传感器的曝光过程中，目标传感单元的曝光时间信息，最后根据曝光时间信息触发全局快门传感器进行曝光以得到目标图像，保证卷帘快门传感器和全局快门传感器曝光采集到的图像数据中的局部图像的曝光同步，便于后续准确地融合，以提高电子设备的定位效果和跟踪效果。
请参阅图11，图11是本申请实施例提供的一种图像采集装置的结构示意性框图。
如图11所示，图像采集装置200包括卷帘快门传感器201、全局快门传感器202、处理器203和存储器204，卷帘快门传感器201、全局快门传感器202、处理器203和存储器204通过总线205连接，该总线205比如为I2C(Inter-integrated Circuit)总线。其中，卷帘快门传感器201包括多个传感单元，卷帘快门传感器201的多个传感单元按照预设顺序依次曝光以采集图像数据；全局快门传感器202包括多个传感单元，全局快门传感器202的多个传感单元同步曝光以采集图像数据。
具体地，处理器203可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器204可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器203用于运行存储在存储器204中的计算机程序，并在执行所述计算机程序时实现如下步骤：
从所述卷帘快门传感器的多个传感单元中确定目标传感单元；
根据所述卷帘快门传感器的曝光时间参数，确定在所述卷帘快门传感器的曝光过程中，所述目标传感单元的曝光时间信息；
根据所述曝光时间信息触发所述全局快门传感器进行曝光以得到目标图像。
在一实施例中，所述处理器实现从所述卷帘快门传感器的多个传感单元中确定目标传感单元时，用于实现：
获取目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域；
根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元。
在一实施例中，所述处理器实现根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元时，用于实现：
获取所述卷帘快门传感器的每个传感单元各自对应的第二像素区域；
根据所述第一像素区域和每个所述第二像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元。
在一实施例中，所述处理器实现根据所述第一像素区域和每个所述第二像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元时，用于实现：
获取所述第一像素区域的中心位置对应的像素子区域；
将与所述像素子区域重叠的所述第二像素区域对应的传感单元确定为所述目标传感单元。
在一实施例中，所述处理器实现根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元时，用于实现：
根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定多个候选传感单元；
获取每个所述候选传感单元的目标曝光时刻，并获取电子设备的惯性测量单元的采样时间；
根据所述采样时间和每个所述候选传感单元的目标曝光时刻，从所述多个候选传感单元中确定目标传感单元。
在一实施例中，所述目标曝光时刻包括曝光起始时刻、曝光结束时刻和曝光中心时刻中的任一项。
在一实施例中，所述处理器实现根据所述采样时间和每个所述候选传感单元的目标曝光时刻，从所述多个候选传感单元中确定目标传感单元时，用于实现：
根据所述采样时间确定所述惯性测量单元的多个工作起始时刻，其中，相邻工作起始时刻间隔所述采样时间；
根据所述目标曝光时刻和所述多个工作起始时刻，从所述多个候选传感单元中确定目标传感单元。
在一实施例中，所述目标传感单元的目标曝光时刻与一个所述工作起始时刻之间的时间差值小于预设时间差值。
在一实施例中，每个所述候选传感单元各自对应的像素区域均位于所述第一像素区域。
在一实施例中，所述处理器实现获取目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域时，用于实现：
获取所述目标对象的运动速度，并获取所述目标对象在上一时刻的历史三维位置；
根据所述运动速度和所述历史三维位置，预测所述目标对象在当前时刻的目标三维位置；
根据所述目标三维位置，确定所述目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域。
在一实施例中，所述曝光时间参数包括所述卷帘快门传感器的曝光等待时长、所述目标传感单元的曝光次序、相邻传感单元的曝光时间差值、每个传感单元的曝光持续时长，所述处理器实现根据所述卷帘快门传感器的曝光时间参数，确定在所述卷帘快门传感器的曝光过程中，所述目标传感单元的曝光时间信息时，用于实现：
根据所述曝光等待时长、所述曝光次序和所述曝光时间差值，确定所述目标传感单元的曝光起始时刻；或者
根据所述曝光等待时长、所述曝光次序、所述曝光时间差值和所述曝光持续时长，确定所述目标传感单元的曝光中心时刻或曝光结束时刻。
在一实施例中，所述处理器实现根据所述曝光时间信息触发所述全局快门传感器进行曝光以得到目标图像时，用于实现：
根据所述曝光时间信息，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差；
根据所述目标曝光时间差，触发所述全局快门传感器进行曝光以得到目标图像。
在一实施例中，所述处理器实现根据所述曝光时间信息，确定所述全局快 门传感器与所述卷帘快门传感器之间的目标曝光时间差时，用于实现：
根据所述目标传感单元的曝光起始时刻确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差；
或者
根据所述目标传感单元的曝光中心时刻和所述全局快门传感器的曝光持续时长，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差；
或者
根据所述目标传感单元的曝光结束时刻和所述全局快门传感器的曝光持续时长，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的图像采集装置的具体工作过程，可以参考前述曝光控制方法实施例中的对应过程，在此不再赘述。
请参阅图12，图12是本申请实施例提供的一种可移动平台的结构示意性框图。
如图12所示，可移动平台300包括平台本体310、设于平台本体310上的动力系统320和设于平台本体310上的图像采集装置330，动力系统320用于为可移动平台300提供移动动力，图像采集装置330用于采集目标图像以及用于控制可移动平台300移动。其中，可移动平台300包括无人机、无人船和无人车等。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的可移动平台的具体工作过程，可以参考前述曝光控制方法实施例中的对应过程，在此不再赘述。
本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的曝光控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的电子设备的内部存储单元，例如所述电子设备的硬盘或内存。所述计算机可读存储介质也可以是所述电子设备的外部存储设备，例如所述电子设备上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用 的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (28)

  1. 一种曝光控制方法，其特征在于，应用于电子设备，所述电子设备包括卷帘快门传感器和全局快门传感器，所述卷帘快门传感器包括多个传感单元，所述卷帘快门传感器的多个所述传感单元按照预设顺序依次曝光以采集图像数据；所述全局快门传感器包括多个传感单元，所述全局快门传感器的多个所述传感单元同步曝光以采集图像数据，所述方法包括:
    从所述卷帘快门传感器的多个传感单元中确定目标传感单元；
    根据所述卷帘快门传感器的曝光时间参数，确定在所述卷帘快门传感器的曝光过程中，所述目标传感单元的曝光时间信息；
    根据所述曝光时间信息触发所述全局快门传感器进行曝光以得到目标图像。
  2. 根据权利要求1所述的曝光控制方法，其特征在于，所述从所述卷帘快门传感器的多个传感单元中确定目标传感单元，包括：
    获取目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域；
    根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元。
  3. 根据权利要求2所述的曝光控制方法，其特征在于，所述根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元，包括：
    获取所述卷帘快门传感器的每个传感单元各自对应的第二像素区域；
    根据所述第一像素区域和每个所述第二像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元。
  4. 根据权利要求3所述的曝光控制方法，其特征在于，所述根据所述第一像素区域和每个所述第二像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元，包括：
    获取所述第一像素区域的中心位置对应的像素子区域；
    将与所述像素子区域重叠的所述第二像素区域对应的传感单元确定为所述目标传感单元。
  5. 根据权利要求2所述的曝光控制方法，其特征在于，所述根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元，包括：
    根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定多个候选传感单元；
    获取每个所述候选传感单元的目标曝光时刻，并获取所述电子设备的惯性测量单元的采样时间；
    根据所述采样时间和每个所述候选传感单元的目标曝光时刻，从所述多个候选传感单元中确定目标传感单元。
  6. 根据权利要求5所述的曝光控制方法，其特征在于，所述目标曝光时刻包括曝光起始时刻、曝光结束时刻和曝光中心时刻中的任一项。
  7. 根据权利要求5所述的曝光控制方法，其特征在于，所述根据所述采样时间和每个所述候选传感单元的目标曝光时刻，从所述多个候选传感单元中确定目标传感单元，包括：
    根据所述采样时间确定所述惯性测量单元的多个工作起始时刻，其中，相邻工作起始时刻间隔所述采样时间；
    根据所述目标曝光时刻和所述多个工作起始时刻，从所述多个候选传感单元中确定目标传感单元。
  8. 根据权利要求7所述的曝光控制方法，其特征在于，所述目标传感单元的目标曝光时刻与一个所述工作起始时刻之间的时间差值小于预设时间差值。
  9. 根据权利要求5所述的曝光控制方法，其特征在于，每个所述候选传感单元各自对应的像素区域均位于所述第一像素区域。
  10. 根据权利要求2所述的曝光控制方法，其特征在于，所述获取目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域，包括：
    获取所述目标对象的运动速度，并获取所述目标对象在上一时刻的历史三维位置；
    根据所述运动速度和所述历史三维位置，预测所述目标对象在当前时刻的目标三维位置；
    根据所述目标三维位置，确定所述目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域。
  11. 根据权利要求1-10中任一项所述的曝光控制方法，其特征在于，所述曝光时间参数包括所述卷帘快门传感器的曝光等待时长、所述目标传感单元的曝光次序、相邻传感单元的曝光时间差值、每个传感单元的曝光持续时长，所述根据所述卷帘快门传感器的曝光时间参数，确定在所述卷帘快门传感器的曝光过程中，所述目标传感单元的曝光时间信息，包括：
    根据所述曝光等待时长、所述曝光次序和所述曝光时间差值，确定所述目标传感单元的曝光起始时刻；或者
    根据所述曝光等待时长、所述曝光次序、所述曝光时间差值和所述曝光持续时长，确定所述目标传感单元的曝光中心时刻或曝光结束时刻。
  12. 根据权利要求11所述的曝光控制方法，其特征在于，所述根据所述曝光时间信息触发所述全局快门传感器进行曝光以得到目标图像，包括：
    根据所述曝光时间信息，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差；
    根据所述目标曝光时间差，触发所述全局快门传感器进行曝光以得到目标图像。
  13. 根据权利要求12所述的曝光控制方法，其特征在于，所述根据所述曝光时间信息，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差，包括：
    根据所述目标传感单元的曝光起始时刻确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差；
    或者
    根据所述目标传感单元的曝光中心时刻和所述全局快门传感器的曝光持续时长，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差；
    或者
    根据所述目标传感单元的曝光结束时刻和所述全局快门传感器的曝光持续时长，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差。
  14. 一种图像采集装置，其特征在于，所述图像采集装置包括卷帘快门传感器、全局快门传感器、处理器和存储器，所述卷帘快门传感器包括多个传感单元，所述卷帘快门传感器的多个所述传感单元按照预设顺序依次曝光以采集图像数据；所述全局快门传感器包括多个传感单元，所述全局快门传感器的多个所述传感单元同步曝光以采集图像数据；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    从所述卷帘快门传感器的多个传感单元中确定目标传感单元；
    根据所述卷帘快门传感器的曝光时间参数，确定在所述卷帘快门传感器的曝光过程中，所述目标传感单元的曝光时间信息；
    根据所述曝光时间信息触发所述全局快门传感器进行曝光以得到目标图像。
  15. 根据权利要求14所述的图像采集装置，其特征在于，所述处理器实现 从所述卷帘快门传感器的多个传感单元中确定目标传感单元时，用于实现：
    获取目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域；
    根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元。
  16. 根据权利要求15所述的图像采集装置，其特征在于，所述处理器实现根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元时，用于实现：
    获取所述卷帘快门传感器的每个传感单元各自对应的第二像素区域；
    根据所述第一像素区域和每个所述第二像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元。
  17. 根据权利要求16所述的图像采集装置，其特征在于，所述处理器实现根据所述第一像素区域和每个所述第二像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元时，用于实现：
    获取所述第一像素区域的中心位置对应的像素子区域；
    将与所述像素子区域重叠的所述第二像素区域对应的传感单元确定为所述目标传感单元。
  18. 根据权利要求15所述的图像采集装置，其特征在于，所述处理器实现根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定目标传感单元时，用于实现：
    根据所述第一像素区域，从所述卷帘快门传感器的多个传感单元中确定多个候选传感单元；
    获取每个所述候选传感单元的目标曝光时刻，并获取电子设备的惯性测量单元的采样时间；
    根据所述采样时间和每个所述候选传感单元的目标曝光时刻，从所述多个候选传感单元中确定目标传感单元。
  19. 根据权利要求18所述的图像采集装置，其特征在于，所述目标曝光时刻包括曝光起始时刻、曝光结束时刻和曝光中心时刻中的任一项。
  20. 根据权利要求18所述的图像采集装置，其特征在于，所述处理器实现根据所述采样时间和每个所述候选传感单元的目标曝光时刻，从所述多个候选传感单元中确定目标传感单元时，用于实现：
    根据所述采样时间确定所述惯性测量单元的多个工作起始时刻，其中，相邻工作起始时刻间隔所述采样时间；
    根据所述目标曝光时刻和所述多个工作起始时刻，从所述多个候选传感单元中确定目标传感单元。
  21. 根据权利要求20所述的图像采集装置，其特征在于，所述目标传感单元的目标曝光时刻与一个所述工作起始时刻之间的时间差值小于预设时间差值。
  22. 根据权利要求18所述的图像采集装置，其特征在于，每个所述候选传感单元各自对应的像素区域均位于所述第一像素区域。
  23. 根据权利要求15所述的图像采集装置，其特征在于，所述处理器实现获取目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域时，用于实现：
    获取所述目标对象的运动速度，并获取所述目标对象在上一时刻的历史三维位置；
    根据所述运动速度和所述历史三维位置，预测所述目标对象在当前时刻的目标三维位置；
    根据所述目标三维位置，确定所述目标对象在所述卷帘快门传感器所处的图像坐标系下的第一像素区域。
  24. 根据权利要求14-23中任一项所述的图像采集装置，其特征在于，所述曝光时间参数包括所述卷帘快门传感器的曝光等待时长、所述目标传感单元的曝光次序、相邻传感单元的曝光时间差值、每个传感单元的曝光持续时长，所述处理器实现根据所述卷帘快门传感器的曝光时间参数，确定在所述卷帘快门传感器的曝光过程中，所述目标传感单元的曝光时间信息时，用于实现：
    根据所述曝光等待时长、所述曝光次序和所述曝光时间差值，确定所述目标传感单元的曝光起始时刻；或者
    根据所述曝光等待时长、所述曝光次序、所述曝光时间差值和所述曝光持续时长，确定所述目标传感单元的曝光中心时刻或曝光结束时刻。
  25. 根据权利要求24所述的图像采集装置，其特征在于，所述处理器实现根据所述曝光时间信息触发所述全局快门传感器进行曝光以得到目标图像时，用于实现：
    根据所述曝光时间信息，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差；
    根据所述目标曝光时间差，触发所述全局快门传感器进行曝光以得到目标图像。
  26. 根据权利要求25所述的图像采集装置，其特征在于，所述处理器实现 根据所述曝光时间信息，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差时，用于实现：
    根据所述目标传感单元的曝光起始时刻确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差；
    或者
    根据所述目标传感单元的曝光中心时刻和所述全局快门传感器的曝光持续时长，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差；
    或者
    根据所述目标传感单元的曝光结束时刻和所述全局快门传感器的曝光持续时长，确定所述全局快门传感器与所述卷帘快门传感器之间的目标曝光时间差。
  27. 一种可移动平台，其特征在于，所述可移动平台包括：
    平台本体；
    动力系统，设于所述平台本体上，用于为所述可移动平台提供移动动力；
    如权利要求14-26中任一项所述的图像采集装置，设于所述平台本体上，用于采集目标图像以及用于控制所述可移动平台移动。
  28. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1-13中任一项所述的曝光控制方法的步骤。
PCT/CN2020/127905 2020-11-10 2020-11-10 曝光控制方法、装置、可移动平台及计算机可读存储介质 Ceased WO2022099482A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/127905 WO2022099482A1 (zh) 2020-11-10 2020-11-10 曝光控制方法、装置、可移动平台及计算机可读存储介质

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/127905 WO2022099482A1 (zh) 2020-11-10 2020-11-10 曝光控制方法、装置、可移动平台及计算机可读存储介质

Publications (1)

Publication Number Publication Date
WO2022099482A1 true WO2022099482A1 (zh) 2022-05-19

Family

ID=81601916

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/127905 Ceased WO2022099482A1 (zh) 2020-11-10 2020-11-10 曝光控制方法、装置、可移动平台及计算机可读存储介质

Country Status (1)

Country Link
WO (1) WO2022099482A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115134492A (zh) * 2022-05-31 2022-09-30 北京极豪科技有限公司 图像采集方法、电子设备和计算机可读介质
CN115278056A (zh) * 2022-06-24 2022-11-01 维沃移动通信有限公司 拍摄方法、装置、电子设备及介质
CN115988331A (zh) * 2022-12-09 2023-04-18 浙江华锐捷技术有限公司 一种曝光控制方法、装置、设备及介质

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080278610A1 (en) * 2007-05-11 2008-11-13 Micron Technology, Inc. Configurable pixel array system and method
CN105940390A (zh) * 2013-12-30 2016-09-14 谷歌技术控股有限责任公司 用于同步从设备的多个传感器接收的数据的方法和系统
CN106385538A (zh) * 2015-06-30 2017-02-08 鹦鹉无人机股份有限公司 用于无人机的具有校正抖动型失真的高分辨率相机单元
CN106454044A (zh) * 2016-10-25 2017-02-22 浙江宇视科技有限公司 一种爆闪补光装置及方法
CN109922260A (zh) * 2019-03-04 2019-06-21 中国科学院上海微系统与信息技术研究所 图像和惯性传感器的数据同步方法和同步装置
CN110198415A (zh) * 2019-05-26 2019-09-03 初速度（苏州）科技有限公司 一种图像时间戳的确定方法和装置
CN110771153A (zh) * 2017-06-21 2020-02-07 康蒂-特米克微电子有限公司 具有不同快门模式的摄像机系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080278610A1 (en) * 2007-05-11 2008-11-13 Micron Technology, Inc. Configurable pixel array system and method
CN105940390A (zh) * 2013-12-30 2016-09-14 谷歌技术控股有限责任公司 用于同步从设备的多个传感器接收的数据的方法和系统
CN106385538A (zh) * 2015-06-30 2017-02-08 鹦鹉无人机股份有限公司 用于无人机的具有校正抖动型失真的高分辨率相机单元
CN106454044A (zh) * 2016-10-25 2017-02-22 浙江宇视科技有限公司 一种爆闪补光装置及方法
CN110771153A (zh) * 2017-06-21 2020-02-07 康蒂-特米克微电子有限公司 具有不同快门模式的摄像机系统
CN109922260A (zh) * 2019-03-04 2019-06-21 中国科学院上海微系统与信息技术研究所 图像和惯性传感器的数据同步方法和同步装置
CN110198415A (zh) * 2019-05-26 2019-09-03 初速度（苏州）科技有限公司 一种图像时间戳的确定方法和装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115134492A (zh) * 2022-05-31 2022-09-30 北京极豪科技有限公司 图像采集方法、电子设备和计算机可读介质
CN115134492B (zh) * 2022-05-31 2024-03-19 北京极光智芯科技有限公司 图像采集方法、电子设备和计算机可读介质
CN115278056A (zh) * 2022-06-24 2022-11-01 维沃移动通信有限公司 拍摄方法、装置、电子设备及介质
CN115988331A (zh) * 2022-12-09 2023-04-18 浙江华锐捷技术有限公司 一种曝光控制方法、装置、设备及介质

Similar Documents

Publication Publication Date Title
CN110174093B (zh) 定位方法、装置、设备和计算机可读存储介质
CN112567201B (zh) 距离测量方法以及设备
US20240203139A1 (en) Systems and methods for depth map sampling
CN109215433B (zh) 用于自动驾驶仿真的基于视觉的驾驶场景生成器
US12164030B2 (en) Local sensing based autonomous navigation, and associated systems and methods
JP6754856B2 (ja) 自動運転車両のためのセンサー集約フレームワーク
US20210337175A1 (en) Image processing method and device
US11537149B2 (en) Route generation device, moving body, and program
US10339387B2 (en) Automated multiple target detection and tracking system
CN110869700A (zh) 用于确定车辆位置的系统和方法
JP2018523865A (ja) 情報処理方法、デバイス、および端末
WO2018120350A1 (zh) 对无人机进行定位的方法及装置
CN112447058B (zh) 泊车方法、装置、计算机设备及存储介质
JP2016157197A (ja) 自己位置推定装置、自己位置推定方法およびプログラム
CN111353453B (zh) 用于车辆的障碍物检测方法和装置
CN113887400A (zh) 障碍物检测方法、模型训练方法、装置及自动驾驶车辆
CN110730934A (zh) 轨迹切换的方法和装置
JP7179687B2 (ja) 障害物検知装置
CN115556769A (zh) 障碍物状态量确定方法及装置、电子设备和介质
CN108416044B (zh) 场景缩略图的生成方法、装置、电子设备及存储介质
CN113791640A (zh) 一种图像获取方法、装置、飞行器和存储介质
US12617426B2 (en) Autonomous docking system for freight trucks
CN115597565A (zh) 一种位姿信息获得方法、装置、系统及车辆

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20961041

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20961041

Country of ref document: EP

Kind code of ref document: A1