WO2022099482A1

WO2022099482A1 - Exposure control method and apparatus, mobile platform, and computer-readable storage medium

Info

Publication number: WO2022099482A1
Application number: PCT/CN2020/127905
Authority: WO
Inventors: 杜劼熹; 周游; 彭梦龙
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2022-05-19

Abstract

An exposure control method and apparatus, a mobile platform, and a computer-readable storage medium. The method comprises: determining a target sensing unit from among a plurality of sensing units of a rolling shutter sensor (S101); determining exposure time information, of the target sensing unit, in an exposure process of the rolling shutter sensor (S102); and triggering, according to the exposure time information, a global shutter sensor to perform exposure (S103). By means of the present application, exposure synchronization of a rolling shutter sensor and a global shutter sensor can be ensured.

Description

Exposure control method, device, removable platform, and computer-readable storage medium

technical field

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.

Background technique

At present, 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). When collecting images, 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.

SUMMARY OF THE INVENTION

Based on this, 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.

In a first aspect, 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:

determining a target sensing unit from a plurality of sensing units of the rolling shutter sensor;

Determine, according to the exposure time parameter of the rolling shutter sensor, the exposure time information of the target sensing unit during the exposure process of the rolling shutter sensor;

The global shutter sensor is triggered to perform exposure according to the exposure time information to obtain a target image.

In a second aspect, 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:

In a third aspect, an embodiment of the present application further provides a movable platform, wherein the movable platform includes:

Platform ontology;

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.

In a fourth aspect, 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. By 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.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of an electronic device implementing the exposure control method provided by the embodiment of the present application;

2 is a schematic flowchart of steps of an exposure control method provided by an embodiment of the present application;

3 is a schematic flow chart of sub-steps of the exposure control method in FIG. 2;

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;

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;

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;

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;

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;

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;

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.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

At present, 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). When collecting images, 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.

In order to solve the above problems, 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.

Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of an electronic device implementing the exposure control method provided by the embodiment of the present application.

As shown in FIG. 1 , 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.

In one embodiment, as shown in FIG. 1 , 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, and handheld devices include cameras, smartphones, and tablets. Wherein, one or more of the power systems 140 in the horizontal direction may rotate in a clockwise direction, and one or more of the power systems 140 in the horizontal direction may rotate in a counterclockwise direction. For example, there are as many power systems 140 rotating clockwise as there are power systems 140 rotating counterclockwise. 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).

In one embodiment, 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). Optionally, 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 . Alternatively, one or more power systems 140 may be controlled simultaneously. For example, 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.

In one embodiment, 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. Optionally, 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.

In an embodiment, 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 . Optionally, 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.

In one embodiment, the processor can control the exposure of the rolling shutter sensor 120 and the global shutter sensor 130 to capture image data. In order to ensure that the exposure of the rolling shutter sensor 120 and the global shutter sensor 130 are synchronized, 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.

It can be understood that, 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. Hereinafter, 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 . It should be noted that 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.

Please refer to FIG. 2 , which 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.

As shown in FIG. 1 , 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.

Wherein, 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.

In some scenarios, it is necessary to fuse the image obtained by the exposure of the rolling shutter sensor and the image obtained by the exposure of the global shutter sensor. At present, 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.

In order to solve the above problems, 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. Finally, according to the exposure time information, 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.

In an embodiment, as shown in FIG. 3 , 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.

Wherein, 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.

In one embodiment, 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 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.

In one embodiment, 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 greater the saliency value between the image area where the object is located in the image and the adjacent image area, the higher the saliency of the object in the image, and the image area where the object is located in the image is similar to the adjacent image area. The smaller the saliency value between image regions, the less salient the object is in that image.

In one embodiment, 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. Through the motion speed of the target object and the historical 3D position of the target object at the previous moment, 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.

Similarly, it is also possible to predict 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. Through the motion speed of the target object and the three-dimensional position of the target object at the current moment, 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.

In one embodiment, 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. Among them, 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.

In one embodiment, 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. Wherein, 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.

Exemplarily, acquiring a second pixel area corresponding to each sensing unit of the rolling shutter sensor; determining a target from multiple sensing units of the rolling shutter sensor according to the first pixel area and each second pixel area sensing unit. It can be understood that, since the multiple sensing units of the rolling shutter sensor are sequentially exposed in a preset order to collect image data, the image collected by the rolling shutter sensor has the corresponding number of each sensing unit. A two-pixel area, and the second pixel area may be an image row, an image column, or an image block, which is not specifically limited in this embodiment of the present application. Exemplarily, 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. 4 , where one image line corresponds to one second pixel area, One second pixel area corresponds to one sensing unit of the rolling shutter sensor, and 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 .

In an embodiment, according to the first pixel area and each of the second pixel areas, 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. For example, as shown in FIG. 4 , 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.

In an embodiment, according to the first pixel area and each of the second pixel areas, 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. 4 , 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.

In one embodiment, according to the first pixel area, 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. Through the sampling time of the inertial measurement unit and the target exposure time of each candidate sensing unit, 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.

In an embodiment, according to the first pixel area, 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. For example, as shown in FIG. 4, 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.

In one embodiment, according to the sampling time and the target exposure time of each candidate sensing unit, 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.

Wherein, 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.

Exemplarily, the target exposure time of the candidate sensing unit is the exposure start time of the candidate sensor unit. As shown in FIG. 5 , the multiple work start times of the inertial measurement unit are respectively work start time 31 , work start time 31 , and work start time. Time 32, work start time 33, work start time 34, work start time 35 and work start time 36, and the candidate sensors corresponding to the second pixel area 11, the second pixel area 12 and the second pixel area 13 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.

Exemplarily, the target exposure time of the candidate sensing unit is the exposure center time of the candidate sensing unit. As shown in FIG. 6 , the multiple work start times of the inertial measurement unit are work start time 41 and work start time 42 respectively. , work start time 43, work start time 44, work start time 45, work start time 46, work start time 47, work start time 48 and work start time 49, and the second pixel area 11, 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 . Through comparison, it is found that the exposure center time 25 and the work start time 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.

Exemplarily, the target exposure time of the candidate sensing unit is the exposure end time of the candidate sensing unit. As shown in FIG. 7 , 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. Through comparison, it is found that 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.

In one embodiment, 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. Wherein, let 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 ΔT, and the exposure time of each sensing unit of the rolling shutter sensor is The duration is T _lexp , the exposure start time of the target sensing unit is t ₁ =T _blank +(n-1)*ΔT, and the exposure center time of the target sensing unit is t ₂ =T _blank +(n-1 )*ΔT+T _lexp /2, the exposure end time of the target sensing unit is t ₃ =T _blank +(n−1)*ΔT+T _lexp .

In one embodiment, 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. By controlling the exposure time difference of the target after the rolling shutter sensor starts exposure, and controlling the global shutter sensor to start exposure to collect image data, the exposure synchronization of the partial images in the image data collected by the exposure of the rolling shutter sensor and the global shutter sensor can be ensured. , which is convenient for subsequent accurate fusion, so as to improve the positioning effect and tracking effect of electronic equipment.

In one embodiment, after controlling the rolling shutter sensor to start exposure, 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.

In one embodiment, according to the exposure time information, 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. Exemplarily, as shown in FIG. 8 , the sensing unit corresponding to the second pixel area 13 is the target sensing unit, and the exposure starting time of the target sensing unit is aligned with the exposure starting time of the rolling shutter sensor, then the global The target exposure time difference of the shutter sensor can be expressed as T _trig =t ₁ =T _blank +(n-1)*ΔT.

In one embodiment, according to the exposure time information, 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. If the exposure centers of the sensors are aligned at the moment, the target exposure time difference of the global shutter sensor can be expressed as T _trig =t ₂ -T _vexp /2=T _blank +(n-1)*ΔT-T _vexp /2.

In one embodiment, according to the exposure time information, 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. 10 , 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, and the exposure end time of the target sensing unit and the exposure end of the rolling shutter sensor If the moments are aligned, the target exposure time difference of the global shutter sensor can be expressed as T _trig =t ₃ -T _vexp =T _blank +(n-1)*ΔT-T _vexp .

In one embodiment, 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. Using 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.

In one embodiment, 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. As the target image, 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. For example, 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 image. When the time _t3 is the closest, the candidate image 3 is determined as the target image.

In the exposure control method provided by the above embodiment, 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.

Please refer to FIG. 11 . FIG. 11 is a schematic structural block diagram of an image acquisition apparatus provided by an embodiment of the present application.

As shown in FIG. 11 , 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.

Specifically, 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.

Specifically, 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.

Wherein, 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:

In one embodiment, 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:

acquiring the first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located;

A target sensing unit is determined from a plurality of sensing units of the rolling shutter sensor according to the first pixel area.

In one embodiment, 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:

acquiring a second pixel area corresponding to each sensing unit of the rolling shutter sensor;

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.

In one embodiment, 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 and each of the second pixel areas, use To achieve:

obtaining the pixel sub-region corresponding to the center position of the first pixel region;

A sensing unit corresponding to the second pixel area overlapping with the pixel sub-area is determined as the target sensing unit.

determining a plurality of candidate sensing units from the plurality of sensing units of the rolling shutter sensor according to the first pixel area;

acquiring the target exposure time of each of the candidate sensing units, and acquiring the sampling time of the inertial measurement unit of the electronic device;

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.

In one embodiment, the target exposure time includes any one of an exposure start time, an exposure end time, and an exposure center time.

In one embodiment, 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 :

Determine a plurality of working start moments of the inertial measurement unit according to the sampling time, wherein the sampling time is separated from adjacent working start moments;

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.

In one embodiment, 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.

In one embodiment, the pixel area corresponding to each of the candidate sensing units is located in the first pixel area.

In one embodiment, 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:

Obtain the movement speed of the target object, and obtain the historical three-dimensional position of the target object at the last moment;

predicting the target three-dimensional position of the target object at the current moment according to the movement speed and the historical three-dimensional position;

According to the three-dimensional position of the target, a first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located is determined.

In one embodiment, 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:

Determine the exposure start time of the target sensing unit according to the exposure waiting time, the exposure sequence and the exposure time difference; or

According to 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.

In one embodiment, 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:

determining a target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure time information;

According to the target exposure time difference, the global shutter sensor is triggered to perform exposure to obtain a target image.

In one embodiment, 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:

determining the target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure start time of the target sensing unit;

or

determining a target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure center moment of the target sensing unit and the exposure duration of the global shutter sensor;

or

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.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the image acquisition device described above, reference may be made to the corresponding process in the foregoing exposure control method embodiments. Repeat.

Please refer to FIG. 12. FIG. 12 is a schematic structural block diagram of a movable platform provided by an embodiment of the present application.

As shown in FIG. 12 , 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.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the movable platform described above, reference may be made to the corresponding process in the foregoing exposure control method embodiments. Repeat.

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.

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.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

An exposure control method, characterized in that it is applied to an electronic device, 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 plurality of the rolling shutter sensor Each of the sensing units is sequentially exposed in a preset order to collect image data; the global shutter sensor includes a plurality of sensing units, and the multiple sensing units of the global shutter sensor are exposed synchronously to collect image data, so The methods described include:

determining a target sensing unit from a plurality of sensing units of the rolling shutter sensor;

Determine, according to the exposure time parameter of the rolling shutter sensor, the exposure time information of the target sensing unit during the exposure process of the rolling shutter sensor;

The global shutter sensor is triggered to perform exposure according to the exposure time information to obtain a target image.
The exposure control method according to claim 1, wherein the determining a target sensing unit from a plurality of sensing units of the rolling shutter sensor comprises:

acquiring the first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located;

A target sensing unit is determined from a plurality of sensing units of the rolling shutter sensor according to the first pixel area.
The exposure control method according to claim 2, wherein determining a target sensing unit from a plurality of sensing units of the rolling shutter sensor according to the first pixel area comprises:

acquiring a second pixel area corresponding to each sensing unit of the rolling shutter sensor;

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 exposure control method according to claim 3, wherein the target 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 Sensing unit, including:

obtaining the pixel sub-region corresponding to the center position of the first pixel region;

A sensing unit corresponding to the second pixel area overlapping with the pixel sub-area is determined as the target sensing unit.
The exposure control method according to claim 2, wherein determining a target sensing unit from a plurality of sensing units of the rolling shutter sensor according to the first pixel area comprises:

determining a plurality of candidate sensing units from the plurality of sensing units of the rolling shutter sensor according to the first pixel area;

acquiring the target exposure time of each of the candidate sensing units, and acquiring the sampling time of the inertial measurement unit of the electronic device;

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 exposure control method according to claim 5, wherein the target exposure time includes any one of an exposure start time, an exposure end time, and an exposure center time.
The exposure control method according to claim 5, wherein the 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 units, including:

Determine a plurality of working start moments of the inertial measurement unit according to the sampling time, wherein the sampling time is separated from adjacent working start moments;

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 exposure control method according to claim 7, wherein the time difference between the target exposure moment of the target sensing unit and one of the work start moments is less than a preset time difference.
The exposure control method according to claim 5, wherein the pixel area corresponding to each of the candidate sensing units is located in the first pixel area.
The exposure control method according to claim 2, wherein the acquiring the first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located comprises:

Obtain the movement speed of the target object, and obtain the historical three-dimensional position of the target object at the last moment;

predicting the target three-dimensional position of the target object at the current moment according to the movement speed and the historical three-dimensional position;

According to the three-dimensional position of the target, a first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located is determined.
The exposure control method according to any one of claims 1-10, wherein the exposure time parameters include exposure waiting time of the rolling shutter sensor, exposure order of the target sensing units, adjacent The exposure time difference of the sensing units and the exposure duration of each sensing unit, the exposure time parameter of the rolling shutter sensor is used to determine, during the exposure process of the rolling shutter sensor, the target transmission time is determined. Exposure time information of the sensor unit, including:

Determine the exposure start time of the target sensing unit according to the exposure waiting time, the exposure sequence and the exposure time difference; or

According to 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 exposure control method according to claim 11, wherein triggering the global shutter sensor to perform exposure according to the exposure time information to obtain a target image comprises:

determining a target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure time information;

According to the target exposure time difference, the global shutter sensor is triggered to perform exposure to obtain a target image.
The exposure control method according to claim 12, wherein determining the target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure time information comprises:

determining the target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure start time of the target sensing unit;

or

determining a target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure center moment of the target sensing unit and the exposure duration of the global shutter sensor;

or

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.
An image acquisition device, characterized in that 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, and the rolling shutter sensor has A plurality of the sensing units are sequentially exposed in a preset order to collect image data; the global shutter sensor includes a plurality of sensing units, and the multiple sensing units of the global shutter sensor are exposed synchronously to collect 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:

determining a target sensing unit from a plurality of sensing units of the rolling shutter sensor;

Determine, according to the exposure time parameter of the rolling shutter sensor, the exposure time information of the target sensing unit during the exposure process of the rolling shutter sensor;

The global shutter sensor is triggered to perform exposure according to the exposure time information to obtain a target image.
The image acquisition device according to claim 14, wherein 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:

acquiring the first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located;

A target sensing unit is determined from a plurality of sensing units of the rolling shutter sensor according to the first pixel area.
16. The image acquisition device according to claim 15, characterized in that, when determining a target sensing unit from a plurality of sensing units of the rolling shutter sensor according to the first pixel area, the processor uses To achieve:

acquiring a second pixel area corresponding to each sensing unit of the rolling shutter sensor;

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.
17. The image acquisition device of claim 16, wherein the processor implements a plurality of sensing units from the rolling shutter sensor according to the first pixel area and each of the second pixel areas When determining the target sensing unit in , it is used to achieve:

obtaining the pixel sub-region corresponding to the center position of the first pixel region;

A sensing unit corresponding to the second pixel area overlapping with the pixel sub-area is determined as the target sensing unit.
16. The image acquisition device according to claim 15, characterized in that, when determining a target sensing unit from a plurality of sensing units of the rolling shutter sensor according to the first pixel area, the processor uses To achieve:

determining a plurality of candidate sensing units from the plurality of sensing units of the rolling shutter sensor according to the first pixel area;

acquiring the target exposure time of each of the candidate sensing units, and acquiring the sampling time of the inertial measurement unit of the electronic device;

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 image acquisition device according to claim 18, wherein the target exposure time includes any one of an exposure start time, an exposure end time, and an exposure center time.
19. The image acquisition device according to claim 18, wherein the processor implements determining from the plurality of candidate sensing units according to the sampling time and the target exposure time of each of the candidate sensing units When the target sensing unit is used to achieve:

Determine a plurality of working start moments of the inertial measurement unit according to the sampling time, wherein the sampling time is separated from adjacent working start moments;

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 image acquisition device according to claim 20, wherein the time difference between the target exposure moment of the target sensing unit and one of the work start moments is less than a preset time difference.
The image acquisition device according to claim 18, wherein the pixel area corresponding to each of the candidate sensing units is located in the first pixel area.
The image acquisition device according to claim 15, wherein 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:

Obtain the movement speed of the target object, and obtain the historical three-dimensional position of the target object at the last moment;

predicting the target three-dimensional position of the target object at the current moment according to the movement speed and the historical three-dimensional position;

According to the three-dimensional position of the target, a first pixel area of the target object in the image coordinate system where the rolling shutter sensor is located is determined.
The image acquisition device according to any one of claims 14-23, wherein the exposure time parameters include exposure waiting time of the rolling shutter sensor, exposure order of the target sensing units, adjacent The exposure time difference of the sensing units and the exposure duration of each sensing unit, the processor realizes that according to the exposure time parameter of the rolling shutter sensor, during the exposure process of the rolling shutter sensor, the When describing the exposure time information of the target sensing unit, it is used to achieve:

Determine the exposure start time of the target sensing unit according to the exposure waiting time, the exposure sequence and the exposure time difference; or

According to 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 image acquisition device according to claim 24, wherein 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:

determining a target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure time information;

According to the target exposure time difference, the global shutter sensor is triggered to perform exposure to obtain a target image.
The image acquisition device according to claim 25, wherein when the processor determines the target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure time information, the processor is configured to: accomplish:

determining the target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure start time of the target sensing unit;

or

determining a target exposure time difference between the global shutter sensor and the rolling shutter sensor according to the exposure center moment of the target sensing unit and the exposure duration of the global shutter sensor;

or

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.
A movable platform, characterized in that the movable platform comprises:

Platform ontology;

a power system, arranged on the platform body, for providing moving power for the movable platform;

The image acquisition device according to any one of claims 14 to 26, provided on the platform body, for acquiring target images and for controlling the movement of the movable platform.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 1-13. The steps of the exposure control method described above.