Bionic eye multi-channel imu and camera hardware time synchronization method and device

A hardware time, bionic eye technology, applied in the direction of navigation through speed/acceleration measurement, navigation calculation tools, etc., to improve the accuracy of time synchronization and achieve the effect of accurate correspondence

Active Publication Date: 2021-05-25
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] In view of the shortcomings of the above existing technologies, in order to solve the problem of synchronous acquisition of data from multiple IMUs and multiple cameras in the bionic eye system, a bionic eye multi-channel IMU and camera hardware time synchronization method and device are proposed.

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  • Bionic eye multi-channel imu and camera hardware time synchronization method and device

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[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0043]It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for ...

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Abstract

The invention discloses a bionic eye multi-channel IMU and a camera hardware time synchronization method and device. The method includes: setting the IMU, using the output frequency of the IMU as a period reference for hardware time synchronization and alignment, and making it output pulse signals synchronously when outputting data; setting the camera, and setting the relevant attributes of its image acquisition , Fix the exposure time, and make it collect the image after receiving the external trigger pulse, and use the output pulse signal from the IMU to generate the trigger pulse signal to the camera; the hardware synchronization unit captures the IMU output pulse signal at a fixed frequency Divide the frequency, and generate trigger pulse signal to trigger synchronously on the cameras of all channels. The present invention realizes precise hardware synchronization and alignment, can restore the depth information of the environment perceived by the bionic eye system and the real-time three-dimensional pose information during the motion of the bionic eye system faster and more accurately, and is worthy of popularization.

Description

technical field [0001] The invention relates to the technical field of multi-sensor fusion perception, in particular to a bionic eye multi-channel IMU and camera hardware time synchronization method and device. Background technique [0002] To achieve accurate perception of the environment and environmental map modeling for positioning and navigation, it is necessary to fuse measurement data from multiple / multiple sensors. The prerequisite for data fusion of multiple / multiple sensors is the synchronous collection of data from each sensor, so the time synchronization of data collection for each sensor is required. [0003] Existing multi-sensor time synchronization methods are divided into software time synchronization and hardware time synchronization. Among them, the method of software time synchronization is limited by the accuracy of the synchronization clock of the computing carrier, which often requires the operating system to meet hard real-time requirements, which br...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 黄强陈晓鹏苟思远黄华华承昊孟非高峻峣
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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