Image timestamp calibration system and method based on image frame number

Abstract

The embodiment of the present invention discloses a system and method for calibrating an image timestamp based on an image frame number, the system comprising: a clock unit sends time information to a control unit; an image acquisition device obtains an image synchronization signal, acquires image data, generates exposure parameters and first frame number information, and sends the information to a data processing unit; the control unit obtains the image synchronization signal, determines second frame number information of the image synchronization signal; based on local time information, determines first timestamp information corresponding to the second frame number information and sends the information to the data processing unit, wherein the local time information is determined based on the time information sent by the clock unit; the data processing unit obtains exposure parameters and first frame number information, and second frame number information and first timestamp information corresponding thereto, and determines calibration timestamp information corresponding to the image data based on exposure parameters corresponding to the matched first frame number information and first timestamp information corresponding to the second frame number information, so as to accurately determine and calibrate the image timestamp.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and more specifically, to a system and method for calibrating image timestamps for image frame numbers. Background Technology

[0002] In many industrial fields, such as autonomous driving and assisted driving, which require the use of images, the timestamp information corresponding to the images is needed to match the images with other information, and then fuse the matched images and other information to obtain the corresponding processing results.

[0003] To ensure the accuracy of the processing results, it is necessary to accurately obtain mutually matching images and other information. Therefore, it is crucial to determine and label the timestamp information corresponding to the images.

[0004] Therefore, how to determine and label the timestamp information corresponding to the image has become an urgent problem to be solved. Summary of the Invention

[0005] This invention provides a system and method for calibrating image timestamps based on image frame numbers, so as to achieve accurate determination and calibration of image timestamps. The specific technical solution is as follows:

[0006] In a first aspect, embodiments of the present invention provide an image timestamp calibration system based on image frame number, the system comprising: an image acquisition device, a control unit, a data processing unit, and a clock unit;

[0007] The clock unit is configured to send time information to the control unit;

[0008] The image acquisition device is configured to obtain an image synchronization signal, acquire image data, generate exposure parameters and first frame number information corresponding to the image data, and send the exposure parameters and first frame number information corresponding to the image data to the data processing unit.

[0009] The control unit is configured to obtain an image synchronization signal and determine the second frame number information corresponding to the currently received image synchronization signal; determine the first timestamp information corresponding to the second frame number information based on local time information; and send the second frame number information and its corresponding first timestamp information to the data processing unit, wherein the local time information of the control unit is determined based on the time information sent by the clock unit.

[0010] The data processing unit is configured to obtain the exposure parameters and first frame number information corresponding to the image data, and to obtain the second frame number information and its corresponding first timestamp information sent by the control unit. Based on the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the second frame number information, the unit determines the calibration timestamp information corresponding to the image data acquired by the image acquisition device.

[0011] Optionally, the system further includes: a preset clock, wherein the preset clock is equipped with a digital tube, the digital tube being used to display current time information;

[0012] The image data refers to the image data acquired by the image acquisition device for the digital tube of the preset clock.

[0013] The data processing unit is further configured to determine the time information included in the image corresponding to the image data acquired by the image acquisition device, and to determine the accuracy of the calibration timestamp information corresponding to the image data based on the time information included in the image and the calibration timestamp information corresponding to the image data.

[0014] Optionally, the clock unit is further configured to send a synchronization pulse signal to the control unit at a preset frequency;

[0015] The control unit is also configured to receive the synchronization pulse signal sent by the clock unit, clear the local timer count to zero, and correct the local second-level time information.

[0016] Optionally, the control unit is specifically configured to determine the first timestamp information corresponding to the second frame number information based on local time information.

[0017] Based on the local time information and the current count of the local timer, the first timestamp information corresponding to the second frame number information is determined.

[0018] Optionally, the clock unit is a GPS clock unit.

[0019] Secondly, embodiments of the present invention provide a method for calibrating image timestamps based on image frame numbers, applied to a data processing unit of an image timestamp calibration system, wherein the system further includes: an image acquisition device, a control unit, and a clock unit; the method includes:

[0020] The data processing unit obtains the exposure parameters and first frame number information corresponding to the image data acquired by the image acquisition device. The image acquisition device acquires image data and generates the exposure parameters and first frame number information corresponding to the image data after obtaining the image synchronization signal.

[0021] The second frame number information and its corresponding first timestamp information sent by the control unit are obtained, wherein the second frame number information is: the second frame number information corresponding to the currently obtained image synchronization signal determined by the control unit, and the first timestamp information is: the first timestamp information corresponding to the second frame number information determined by the control unit based on local time information, wherein the local time information of the control unit is determined based on the time information sent by the clock unit;

[0022] Based on the exposure parameters corresponding to the first frame number information and the first timestamp information corresponding to the second frame number information, the calibration timestamp information corresponding to the image data acquired by the image acquisition device is determined.

[0023] Optionally, the system further includes: a preset clock, wherein the preset clock is equipped with a digital tube, the digital tube being used to display current time information;

[0024] The image data refers to the image data acquired by the image acquisition device for the digital tube of the preset clock.

[0025] The method further includes:

[0026] Based on the image data acquired by the image acquisition device, determine the time information included in the image;

[0027] Based on the time information included in the image and the calibration timestamp information corresponding to the image data, the accuracy of the calibration timestamp information corresponding to the image data is determined.

[0028] Optionally, the clock unit sends a synchronization pulse signal to the control unit at a preset frequency;

[0029] The control unit receives the synchronization pulse signal sent by the clock unit, clears the local timer count to zero, and corrects the local second-level time information.

[0030] Optionally, the process by which the control unit determines the first timestamp information corresponding to the second frame number information based on local time information includes:

[0031] Based on the local time information and the current count of the local timer, the first timestamp information corresponding to the second frame number information is determined.

[0032] Optionally, the clock unit is a GPS clock unit.

[0033] As described above, the present invention provides a calibration system and method for image timestamps based on image frame numbers. The system includes: an image acquisition device, a control unit, a data processing unit, and a clock unit. The clock unit is configured to send time information to the control unit. The image acquisition device is configured to obtain an image synchronization signal, acquire image data, and generate exposure parameters and first frame number information corresponding to the image data. The device sends the exposure parameters and first frame number information corresponding to the image data to the data processing unit. The control unit is configured to obtain an image synchronization signal and determine the second frame number information corresponding to the currently received image synchronization signal. Based on local time information, the control unit determines the first timestamp information corresponding to the second frame number information. The control unit sends the second frame number information and its corresponding first timestamp information to the data processing unit, wherein the local time information of the control unit is determined based on the time information sent by the clock unit. The data processing unit is configured to obtain the exposure parameters and first frame number information corresponding to the image data, and obtain the second frame number information and its corresponding first timestamp information sent by the control unit. Based on the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the second frame number information, the data processing unit determines the calibration timestamp information corresponding to the image data acquired by the image acquisition device.

[0034] According to embodiments of the present invention, the control unit can determine the corresponding second frame number information based on the image synchronization signal, and determine the first timestamp information corresponding to the second frame number information, which represents the time when the exposure of the first row of the image ends (i.e., the occurrence time of the image synchronization signal corresponding to the image), based on the time information sent by the clock unit. This information is then sent to the data processing unit. The data processing unit, based on the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the second frame number information, determines the timestamp information corresponding to the exposure center point of the middle row of the image, using it as the calibration timestamp information corresponding to the image data, thus achieving accurate determination and calibration of the image timestamp. Of course, implementing any product or method of the present invention does not necessarily require simultaneously achieving all the advantages described above.

[0035] The innovative aspects of this invention include:

[0036] 1. The control unit can determine the corresponding second frame number information based on the image synchronization signal, and determine the first timestamp information corresponding to the time when the exposure of the first row of the image ends, i.e. the occurrence time of the image synchronization signal corresponding to the image, based on the time information sent by the clock unit. The control unit then sends this information to the data processing unit. Based on the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the first frame number information, the data processing unit determines the timestamp information corresponding to the exposure center point of the middle row of the image, which serves as the calibration timestamp information corresponding to the image data, thereby achieving accurate determination and calibration of the image timestamp.

[0037] 2. The image acquisition device acquires image data from a preset clock's digital display, which shows the current time information. In other words, the image data acquired by the image acquisition device displays the current time information in the corresponding image. Correspondingly, the display unit can display the image data acquired by the image acquisition device along with the corresponding calibration timestamp information. This allows the user to compare the time information in the displayed image with the corresponding calibration timestamp information to check the accuracy of the calibrated timestamp information, thereby improving the timestamp calibration process in the image timestamp calibration system.

[0038] 3. The clock unit sends a synchronization pulse signal to the control unit at a preset frequency so that the control unit can correct the timing of the local timer, ensure the accuracy of the count, and thus ensure the accuracy of the first timestamp information corresponding to the determined second frame number information.

[0039] 4. The clock unit is a GPS clock unit, which can directly assign standard timestamp information to image data for subsequent tasks. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0041] Figure 1 A schematic diagram of a calibration system based on image frame number and timestamp provided in an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of another structure of the image timestamp calibration system based on image frame number provided in an embodiment of the present invention;

[0043] Figure 3 This is a schematic flowchart of an image timestamp calibration method based on image frame number provided in an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0045] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0046] This invention provides a system and method for calibrating image timestamps based on image frame numbers, so as to achieve accurate determination and calibration of image timestamps. The embodiments of this invention are described in detail below.

[0047] Figure 1 This is a schematic diagram of a calibration system based on image frame number and timestamp provided in an embodiment of the present invention. The system may include: an image acquisition device 110, a control unit 120, a data processing unit 130, and a clock unit 140;

[0048] Clock unit 140 is configured to send time information to control unit 120;

[0049] The image acquisition device 110 is configured to obtain an image synchronization signal, acquire image data, generate exposure parameters and first frame number information corresponding to the image data, and send the exposure parameters and first frame number information corresponding to the image data to the data processing unit 130.

[0050] The control unit 120 is configured to receive an image synchronization signal and determine the second frame number information corresponding to the currently received image synchronization signal; determine the first timestamp information corresponding to the second frame number information based on local time information; and send the second frame number information and its corresponding first timestamp information to the data processing unit 130, wherein the local time information of the control unit is determined based on the time information sent by the clock unit 140.

[0051] The data processing unit 130 is configured to obtain the exposure parameters and first frame number information corresponding to the image data, and to obtain the second frame number information and its corresponding first timestamp information sent by the control unit 120. Based on the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the second frame number information, the calibration timestamp information corresponding to the image data acquired by the image acquisition device is determined.

[0052] In this embodiment of the invention, the image acquisition device 110 is connected to the control unit 120 and the data processing unit 130 respectively. The image acquisition device 110 obtains the image synchronization signal, starts to expose and acquire image data, and generates the exposure parameters and first frame number information corresponding to the image data. The image synchronization signal is sent to the control unit 120, and the exposure parameters and first frame number information corresponding to the image data are sent to the data processing unit 130.

[0053] In one implementation, the image synchronization signal can be, but is not limited to, Fsync (frame synchronization signal) or Vsync (vertical synchronization signal).

[0054] In one scenario, the image synchronization signal is generated by the image acquisition device 110 itself. Accordingly, the image acquisition device 110 sends the image synchronization signal it generates to the control unit 120, and the control unit 120 obtains the image synchronization information sent by the image acquisition device 110.

[0055] In another scenario, the image synchronization signal is generated and sent by the data processing unit 130. Accordingly, after generating the image synchronization signal, the data processing unit 130 simultaneously sends the image synchronization signal to the image acquisition device 110 and the control unit 120. The image acquisition device 110 obtains the image synchronization signal and executes the corresponding steps, and the control unit 120 obtains the image synchronization signal and executes the corresponding steps.

[0056] In one implementation, the image acquisition device 110 simultaneously sends the acquired image data to the data processing unit 130.

[0057] The control unit 120 is connected to the clock unit 140 and the data processing unit 130. After receiving the image synchronization signal, the control unit 120 can determine the second frame number information corresponding to the currently received image synchronization signal based on the number of image synchronization signals it has received. Based on local time information, it determines the first timestamp information corresponding to the second frame number information; and sends the second frame number information and its corresponding first timestamp information to the data processing unit 130.

[0058] The first timestamp information corresponding to the second frame number information can characterize the occurrence time of the image synchronization signal corresponding to the second frame number information, and correspondingly, can characterize the end time of the exposure of the first line of the image corresponding to the image synchronization signal.

[0059] In one implementation, the control unit 120 can be a microcontroller unit (MCU).

[0060] In one scenario, clock unit 140 is a GPS (Global Positioning System) clock unit. This allows for the provision of absolute time information, enabling the direct assignment of absolute timestamps to the image data and facilitating subsequent tasks.

[0061] The data processing unit 130 obtains the exposure parameters and first frame number information corresponding to the image data sent by the image acquisition device 110, and obtains the second frame number information and its corresponding first timestamp information sent by the control unit 120. Subsequently, based on the first frame number information and the second frame number information, the data processing unit 130 determines the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the matching second frame number information; furthermore, based on the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the matching second frame number information, it determines the calibration timestamp information corresponding to the image data acquired by the image acquisition device 110.

[0062] Among them, the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the matching second frame number information are the same exposure parameters and first timestamp information for the corresponding first frame number information and the corresponding second frame number information.

[0063] In one implementation of the present invention, the process of determining the calibration timestamp information corresponding to the image data acquired by the image acquisition device based on the exposure parameters corresponding to the first frame number information and the first timestamp information corresponding to the second frame number information can be as follows: based on the exposure line number information in the exposure parameters corresponding to the first frame number information, the first timestamp information corresponding to the second frame number information that matches the first frame number information, the maximum number of lines information, and the frame rate information (FPS, Frames Per Second), the calibration timestamp information corresponding to the image data acquired by the image acquisition device can be determined.

[0064] In one scenario, the process of determining the timestamp information corresponding to the image data acquired by the image acquisition device can be expressed by formula (1) as follows:

[0065]

[0066] Among them, Tframe This represents the timestamp information corresponding to the image data acquired by a specific image acquisition device. T1 represents the first timestamp information corresponding to the second frame number information of this image data. The exposure end time of the middle row is indicated, that is, the exposure end time of the middle row of the image data; (VMAX-SHS) represents the exposure row number information, VMAX represents the maximum row number information, and SHS represents the read value of the register of the image acquisition device. It can be understood that different image acquisition devices have different ways of determining the exposure row number information. The read value of the register of some image acquisition devices represents the exposure row number information. For this type of image acquisition device, (VMAX-SHS) in the above formula (1) can be directly replaced with SHS. FPS represents the number of frames transmitted per second, that is, the frame rate. Once the image acquisition device is determined, its specific FPS value and maximum row number information are determined.

[0067] Formula (1) above is an example formula for calculating and determining the corresponding timestamp information of the image data acquired by the image acquisition device. For different image acquisition devices, the methods for determining the corresponding timestamp information of the image data acquired by the image acquisition device using its corresponding exposure parameters and first timestamp information vary. For example, for the image acquisition device mentioned above where the read value of the register of the image acquisition device represents the exposure line number information, (VMAX-SHS) in the above formula (1) can be directly replaced with SHS. Furthermore, for some image acquisition devices, the above... The form may also change.

[0068] In one implementation, the data processing unit 130 can be a system on chip (SOC).

[0069] According to the embodiments of the present invention, the control unit can determine the corresponding second frame number information based on the image synchronization signal, and determine the first timestamp information corresponding to the second frame number information, which can characterize the time when the exposure of the first row of the image ends, i.e., the occurrence time of the image synchronization signal corresponding to the image, based on the time information sent by the clock unit, and send it to the data processing unit. The data processing unit determines the timestamp information corresponding to the exposure center point of the middle row of the image based on the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the second frame number information, which can characterize the occurrence time of the image synchronization signal corresponding to the image, as the calibration timestamp information corresponding to the image data, thereby realizing the accurate determination and calibration of the image timestamp.

[0070] In another embodiment of the invention, such as Figure 2As shown, the system may further include: a preset clock 150, wherein the preset clock 150 is equipped with a digital tube, which is used to display the current time information;

[0071] The data processing unit 130 is further configured to determine the time information included in the image based on the image data acquired by the image acquisition device, and to determine the accuracy of the calibration timestamp information corresponding to the image data based on the time information included in the image and the calibration timestamp information corresponding to the image data.

[0072] In this implementation, the data processing unit 130 can identify the image corresponding to the image data acquired by the image acquisition device, determine the time information included in the image, and then compare the time information included in the image with the calibration timestamp information corresponding to the image data to determine the accuracy of the calibration timestamp information corresponding to the image data. Specifically, if the absolute value of the time difference between the time information included in the image and the calibration timestamp information corresponding to the image data is within a preset time error range, then the calibration timestamp information corresponding to the image data is determined to be accurate; conversely, if the absolute value of the time difference between the time information included in the image and the calibration timestamp information corresponding to the image data is not within the preset time error range, then the calibration timestamp information corresponding to the image data is determined to be inaccurate.

[0073] In another implementation, the system may further include: a display unit;

[0074] The display unit is configured to display the image corresponding to the image data acquired by the image acquisition device and the calibration timestamp information corresponding to the image data, so that the user can compare the time information included in the displayed image and the calibration timestamp information corresponding to the image data.

[0075] Considering the need to verify the accuracy of the calibrated timestamp information, in this implementation, the image timestamp calibration system may include a preset clock 150 and a display unit. The preset clock 150 is equipped with a digital tube that displays the current time information. The image acquisition device 110 acquires image data using the digital tube set by the preset clock. Correspondingly, the image data acquired by the image acquisition device 110 includes the current time information displayed on the digital tube. After determining the calibrated timestamp information corresponding to the image data, the data processing unit 130 can calibrate the determined calibrated timestamp information into the corresponding image data. This calibrated timestamp information can represent the time information of the exposure center point of the middle row of the image data at the time of exposure.

[0076] Subsequently, in one implementation, when the data processing unit 130 receives a user-triggered instruction to view the calibration timestamp information corresponding to the image data and the image corresponding to the image data, it can send the image data and its corresponding calibration timestamp information to the display device. The display unit displays the image corresponding to the image data acquired by the image acquisition device and the calibration timestamp information corresponding to the image data, so that the user can compare the time information included in the displayed image with the calibration timestamp information corresponding to the image data.

[0077] In one scenario, the calibration timestamp information corresponding to the image data can be used as the image name of the image corresponding to the image data, thereby achieving the calibration of the image data.

[0078] In another embodiment of the present invention, the control unit 120 is specifically configured to determine the first timestamp information corresponding to the second frame number information based on local time information.

[0079] Based on local time information and the current count of the local timer, determine the first timestamp information corresponding to the second frame number information.

[0080] In this implementation, to ensure the accuracy of the determined timestamp information, after receiving the time information sent by the clock unit 140, the control unit 120 can parse the Unix timestamp information from the time information, and update the second-level time information in the control unit 120's local time information based on the second-level time information in the Unix timestamp information when a preset period arrives. The arrival of this preset period can refer to the control unit 120 receiving a synchronization pulse signal sent by the clock unit 140.

[0081] Accordingly, the control unit 120 determines the time information at or above the second level in the local time information to the time information at or above the second level in the first timestamp information corresponding to the second frame number information, and determines the current count of the local timer of the control unit 120 to the time information below the second level in the first timestamp information corresponding to the second frame number information.

[0082] In another embodiment of the present invention, the clock unit 140 is further configured to send a synchronization pulse signal to the control unit 120 at a preset frequency;

[0083] The control unit 120 is also configured to receive a synchronization pulse signal sent by the clock unit 140, clear the local timer count to zero, and correct the local second-level time information.

[0084] The local timer count in control unit 120 may deviate. To ensure the accuracy of the first timestamp information corresponding to the determined second frame number, and thus the accuracy of the calibration information corresponding to the determined image data, clock unit 140 can also send a synchronization pulse signal to control unit 120 at a preset frequency. Control unit 120, upon receiving the synchronization pulse signal from clock unit 140, clears the local timer count and corrects the local second-level time information. The clearing of the local timer count can be performed on either the rising edge or the falling edge of the synchronization pulse signal. The correction of the local second-level time information involves incrementing the second-level time information in the Unix timestamp by one, using this increment as the local second-level time information. Time information beyond the second level is retained.

[0085] The synchronization pulse signal is a PPS (Pulse Per Second) signal.

[0086] Given that the current count of the local timer of the control unit 120 is used as the time information below the second level in the first timestamp information corresponding to the second frame number information, it can be the rising or falling edge of a synchronization pulse signal every second.

[0087] Corresponding to the above method embodiments, this invention provides a method for calibrating image timestamps based on image frame numbers, applied to the data processing unit of an image timestamp calibration system. The system further includes: an image acquisition device, a control unit, and a clock unit; as shown... Figure 3 As shown, the method may include:

[0088] S301: The data processing unit obtains the exposure parameters and first frame number information corresponding to the image data acquired by the image acquisition device.

[0089] The image acquisition device, after obtaining the image synchronization signal, acquires image data and generates exposure parameters and first frame number information corresponding to the image data.

[0090] S302: Obtain the second frame number information and its corresponding first timestamp information sent by the control unit.

[0091] Wherein, the second frame number information is: the second frame number information corresponding to the currently obtained image synchronization signal determined by the control unit, and the first timestamp information is: the first timestamp information corresponding to the second frame number information determined by the control unit based on the time information sent by the received clock unit.

[0092] S303: Based on the exposure parameters corresponding to the first frame number information and the first timestamp information corresponding to the second frame number information, determine the calibration timestamp information corresponding to the image data acquired by the image acquisition device.

[0093] According to the embodiments of the present invention, the control unit can determine the corresponding second frame number information based on the image synchronization signal, and determine the first timestamp information corresponding to the second frame number information, which can characterize the time when the exposure of the first row of the image ends, i.e., the occurrence time of the image synchronization signal corresponding to the image, based on the time information sent by the clock unit, and send it to the data processing unit. The data processing unit determines the timestamp information corresponding to the exposure center point of the middle row of the image based on the exposure parameters corresponding to the matching first frame number information and the first timestamp information corresponding to the second frame number information, which can characterize the occurrence time of the image synchronization signal corresponding to the image, as the calibration timestamp information corresponding to the image data, thereby realizing the accurate determination and calibration of the image timestamp.

[0094] In another embodiment of the present invention, the system further includes: a preset clock, wherein the preset clock is provided with a digital tube, the digital tube being used to display current time information;

[0095] The image data is: image data acquired by the image acquisition device for the digital tube of the preset clock; the method further includes: determining the time information included in the image based on the image data acquired by the image acquisition device; and determining the accuracy of the calibration timestamp information corresponding to the image data based on the time information included in the image and the calibration timestamp information corresponding to the image data.

[0096] In another embodiment of the present invention, the clock unit sends a synchronization pulse signal to the control unit at a preset frequency; the control unit receives the synchronization pulse signal sent by the clock unit and clears the local timer count to correct the local second-level time information.

[0097] In another embodiment of the present invention, the process of the control unit determining the first timestamp information corresponding to the second frame number information based on local time information includes: determining the first timestamp information corresponding to the second frame number information based on local time information and the current count of the local timer.

[0098] In another embodiment of the present invention, the clock unit is a GPS clock unit.

[0099] The above-described system and device embodiments correspond to the system embodiments and have the same technical effects as the method embodiments. For detailed descriptions, please refer to the method embodiments. The device embodiments are derived based on the method embodiments; detailed descriptions can be found in the method embodiments section, and will not be repeated here. Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0100] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A calibration system for image timestamp based on image frame number, characterized in that: The system comprises: an image acquisition device, a control unit, a data processing unit and a clock unit; The clock unit is configured to send time information to the control unit; The image acquisition device is configured to obtain an image synchronization signal, acquire image data, generate exposure parameters and first frame number information corresponding to the image data; and send the exposure parameters and first frame number information corresponding to the image data to the data processing unit; The control unit is configured to obtain an image synchronization signal, and determine second frame number information corresponding to the currently received image synchronization signal; determine first timestamp information corresponding to the second frame number information based on local time information; and send the second frame number information and its corresponding first timestamp information to the data processing unit, wherein the local time information of the control unit is determined based on the time information sent by the clock unit; The data processing unit is configured to obtain exposure parameters and first frame number information corresponding to the image data, and obtain the second frame number information sent by the control unit and its corresponding first timestamp information, and determine the calibration timestamp information corresponding to the image data collected by the image acquisition device based on the exposure parameters corresponding to the matched first frame number information and the first timestamp information corresponding to the second frame number information; wherein, based on the exposure parameters corresponding to the matched first frame number information and the first timestamp information corresponding to the second frame number information, determining the calibration timestamp information corresponding to the image data collected by the image acquisition device includes: based on the exposure row number information in the exposure parameters corresponding to the first frame number information, the first timestamp information corresponding to the second frame number information matching the first frame number information, the maximum row number information of the image data, and the frame rate information, determining the timestamp information corresponding to the exposure center point of the middle row of the corresponding image data collected by the image acquisition device as the calibration timestamp information corresponding to the image data.

2. The system according to claim 1, characterized in that The system further comprises: a preset clock, wherein the preset clock is provided with a digital tube, and the digital tube is used to display current time information; The image data is: the image data collected by the image acquisition device for the digital tube of the preset clock; The data processing unit is also configured to determine the time information included in the image based on the image corresponding to the image data captured by the image acquisition device, and determine the accuracy of the calibrated timestamp information corresponding to the image data based on the time information included in the image and the calibrated timestamp information corresponding to the image data.

3. The system according to claim 1 or 2, characterized in that: The clock unit is further configured to send a synchronization pulse signal to the control unit at a preset frequency; The control unit is further configured to obtain the synchronization pulse signal sent by the clock unit, reset the local timer count, and correct the local second-level time information.

4. The system according to claim 3, characterized in that The control unit is specifically configured to, in the process of determining the first timestamp information corresponding to the second frame number information based on the local time information, Based on the local time information and the current count of the local timer, first timestamp information corresponding to the second frame number information is determined.

5. The system according to any one of claims 1 to 2 and 4, characterized in that: The clock unit is a GPS clock unit.

6. A method for calibrating an image timestamp of an image frame number, characterized in that: A data processing unit for a calibration system for image timestamp, wherein the system further comprises: an image acquisition device, a control unit and a clock unit; the method comprises: The data processing unit obtains exposure parameters and first frame number information corresponding to the image data collected by the image acquisition device, wherein the image acquisition device collects image data and generates exposure parameters and first frame number information corresponding to the image data after obtaining the image synchronization signal; Obtaining second frame number information sent by the control unit and first timestamp information corresponding thereto, wherein the second frame number information is: second frame number information corresponding to the currently obtained image synchronization signal determined by the control unit, and the first timestamp information is: first timestamp information corresponding to the second frame number information determined by the control unit based on local time information, wherein the local time information of the control unit is determined based on the time information sent by the clock unit; Determine, based on the exposure parameter corresponding to the matched first frame number information and the first timestamp information corresponding to the second frame number information, the calibration timestamp information corresponding to the image data acquired by the image acquisition device; Wherein, based on the exposure parameter corresponding to the matched first frame number information and the first timestamp information corresponding to the second frame number information, determining the calibration timestamp information corresponding to the image data collected by the image acquisition device includes: Based on the exposure row number information in the exposure parameters corresponding to the first frame number information, the first timestamp information corresponding to the second frame number information matching the first frame number information, the maximum row number information of the image data, and the frame rate information, the timestamp information corresponding to the exposure center point of the middle row is determined as the calibration timestamp information corresponding to the corresponding image data acquired by the image data acquisition device.

7. The method according to claim 6, characterized in that The system further comprises: a preset clock, wherein the preset clock is provided with a digital tube, and the digital tube is used to display current time information; The image data is: the image data collected by the image acquisition device for the digital tube of the preset clock; The method further includes: determining time information included in the image based on the image corresponding to the image data acquired by the image acquisition device; Based on the time information included in the image and the calibrated timestamp information corresponding to the image data, the accuracy of the calibrated timestamp information corresponding to the image data is determined.

8. The method according to claim 6 or 7, characterized in that The clock unit sends a synchronization pulse signal to the control unit at a preset frequency; the control unit obtains the synchronization pulse signal sent by the clock unit, resets the local timer count, and corrects the local second-level time information.

9. The method according to claim 8, characterized in that The control unit, in a process of determining the first timestamp information corresponding to the second frame number information based on the local time information, includes: Based on the local time information and the current count of the local timer, first timestamp information corresponding to the second frame number information is determined.

10. The method according to any one of claims 6 to 7 and 9, characterized in that: The clock unit is a GPS clock unit.

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