A parameter configuration method and related device

Abstract

The present application relates to a parameter configuration method and related devices. When adjusting the working parameters of a target first-type functional element among multiple functional elements under a light intensity change event, the event generation rate of the image sensor is obtained, and the delay parameter of the first-type functional element is negatively correlated with the event generation rate; when the event generation rate reaches the upper limit of the event generation rate, the working parameters of other functional elements among the multiple functional elements are adjusted in turn in the direction of reducing the delay parameter; when the total delay parameter of all functional elements is lower than the parameter threshold, and the event generation rate of the image sensor is higher than the lower limit of the event generation rate, the image sensor is configured based on the adjusted target working parameters of each functional element. Through the implementation of the scheme of the present application, combined with the event generation rate and the total delay parameter of the image sensor, the working parameters of the functional elements are adjusted under specific light intensity change events, which effectively reduces the system response delay and improves the imaging frame rate of the event camera.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to a parameter configuration method and related devices. Background Art

[0002] With the continuous development of science and technology, computer vision technology has become more and more mature. The emergence of event cameras has attracted more and more attention in the field of vision. The event-based vision sensor (EVS) it uses simulates the human retina and responds to the pixel pulses of brightness changes caused by movement. Therefore, it can capture the brightness changes of the scene at a very high frame rate, record events at specific time points and specific locations in the image, and form an event stream instead of a frame stream, thus solving the problems of traditional camera information redundancy, large data storage volume and real-time processing volume.

[0003] In the related technology, for event cameras, the overall process from light intensity sensing to event readout involves the processing work of multiple functional components. Each functional component will have a certain working delay during the data processing process. If the accumulated system response delay is too large, it will have a negative impact on the imaging performance of the event camera. A typical negative impact is that the frame rate of the event camera is relatively low. Summary of the invention

[0004] The embodiments of the present application provide a parameter configuration method and related devices, which can at least solve the problem of low frame rate of event cameras caused by large system response delay of event cameras in related technologies.

[0005] According to a first aspect of an embodiment of the present application, a parameter configuration method is provided, which is applied to an event camera, wherein an image sensor of the event camera includes a plurality of functional elements, wherein the plurality of functional elements include a first type functional element and a second type functional element, wherein a delay parameter of the first type functional element is negatively correlated with an event generation rate of the image sensor, and a delay parameter of the second type functional element is positively correlated with an event generation rate of the image sensor, and the parameter configuration method includes:

[0006] For a preset light intensity change event, while adjusting the operating parameters of a target first type functional element among the plurality of functional elements, acquiring an event generation rate of the image sensor;

[0007] When the event generation rate reaches a preset event generation rate upper limit, sequentially adjusting the operating parameters of other functional elements in the plurality of functional elements in a direction of reducing the delay parameter;

[0008] When the total delay parameter of all the functional elements is lower than a preset parameter threshold and the event generation rate of the image sensor is higher than a preset event generation rate lower limit, the image sensor is configured based on the adjusted target operating parameters of each of the functional elements.

[0009] According to a second aspect of an embodiment of the present application, a parameter configuration device is provided, which is applied to an event camera. The image sensor of the event camera includes a plurality of functional elements, wherein the plurality of functional elements include a first type functional element and a second type functional element. The delay parameter of the first type functional element is negatively correlated with the event generation rate of the image sensor, and the delay parameter of the second type functional element is positively correlated with the event generation rate of the image sensor. The parameter configuration device includes:

[0010] an acquisition module, configured to acquire an event generation rate of the image sensor while adjusting the operating parameters of a target first-type functional element among the plurality of functional elements for a preset light intensity change event;

[0011] An adjustment module, configured to adjust the operating parameters of other functional elements in the plurality of functional elements in turn in a direction of decreasing the delay parameter when the event generation rate reaches a preset event generation rate upper limit;

[0012] A configuration module is used to configure the image sensor based on the adjusted target operating parameters of each of the functional elements when the total delay parameter of all the functional elements is lower than a preset parameter threshold and the event generation rate of the image sensor is higher than a preset event generation rate lower limit.

[0013] A third aspect of an embodiment of the present application provides a terminal device, including: a memory and a processor, wherein the processor is used to execute a computer program stored in the memory, and when the processor executes the computer program, it implements each step of the parameter configuration method provided in the first aspect of the embodiment of the present application.

[0014] The fourth aspect of the embodiments of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the parameter configuration method provided in the first aspect of the embodiments of the present application are implemented.

[0015] As can be seen from the above, according to the parameter configuration method and related devices provided by the scheme of the present application, for a preset light intensity change event, while adjusting the working parameters of the target first type functional element among multiple functional elements, the event generation rate of the image sensor is obtained, and the delay parameter of the first type functional element is negatively correlated with the event generation rate of the image sensor; when the event generation rate reaches the preset event generation rate upper limit, the working parameters of other functional elements among the multiple functional elements are adjusted in turn in the direction of reducing the delay parameter; when the total delay parameter of all functional elements is lower than the preset parameter threshold, and the event generation rate of the image sensor is higher than the preset event generation rate lower limit, the image sensor is configured based on the adjusted target working parameters of each functional element. Through the implementation of the scheme of the present application, combined with the event generation rate and the total delay parameter of the image sensor, the working parameters of the functional elements are adjusted under specific light intensity change events, which effectively reduces the system response delay and improves the imaging frame rate of the event camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A basic flow chart of a parameter configuration method provided in the first embodiment of the present application;

[0017] Figure 2 A detailed flow chart of a parameter configuration method provided in the second embodiment of the present application;

[0018] Figure 3 A schematic diagram of a program module of a parameter configuration device provided in the second embodiment of the present application;

[0019] Figure 4 A schematic diagram of the structure of a terminal device provided in the third embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0021] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0023] In the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0024] The above description is only a preferred embodiment of the present application and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

[0025] In order to solve the problem of low frame rate of event camera caused by large system response delay of event camera in related art, the first embodiment of the present application provides a parameter configuration method, which is applied to event camera, wherein the image sensor of the event camera includes multiple functional elements, the multiple functional elements include first type functional elements and second type functional elements, the delay parameter of the first type functional element is negatively correlated with the event generation rate of the image sensor, the delay parameter of the second type functional element is positively correlated with the event generation rate of the image sensor, and the sum of the delay parameters of all functional elements constitutes the system response delay of the image sensor. It should be noted that the image sensor in this embodiment can generally include but is not limited to the following functional elements: preamplifier element, AFE analog front end element, voltage comparison element, analog memory update element. Among them, the voltage comparison element and the analog memory update element are first type functional elements, and the preamplifier element and the AFE analog front end element are second type functional elements.

[0026] like Figure 1 This is a basic flow chart of the parameter configuration method provided in this embodiment. The parameter configuration method includes the following steps:

[0027] Step 101 : for a preset light intensity change event, while adjusting the working parameters of a target first type functional element among a plurality of functional elements, obtain an event generation rate of an image sensor.

[0028] Specifically, in practical applications, when a light intensity change event is triggered, the ambient light intensity changes, and the image sensor of the event camera collects event data in response to the ambient light intensity change. In this embodiment, for the same light intensity change event, a specific first-type functional element is first used as the initial adjustment object, and its working parameters are dynamically adjusted while controlling the image sensor to collect event data in the dynamically changing lighting environment, and the event generation rate of the event data is counted. It should be understood that in this embodiment, the working parameters of the target first-type functional element are adjusted in the direction of reducing the delay parameter, that is, in the process of gradually adjusting the functional element, the response delay introduced by the functional element is gradually reduced. Since the delay parameter of the first-type functional element is negatively correlated with the event generation rate of the image sensor, the event generation rate of the image sensor tends to increase in the process of adjusting its working parameters to reduce the delay.

[0029] It should be understood that the overall event data collected by the event camera is a collection of event data for each pixel in the image sensor pixel array, and the event data for a single pixel is a binary vector (i.e., a 2-bit vector), which is used to characterize whether the ambient light intensity is getting stronger or weaker, wherein, if the current ambient light intensity is greater than the ambient light intensity at the previous moment, the 2-bit vector is represented as [1, 0], which means that the pixel generates an UP event, and if the current ambient light intensity is less than the ambient light intensity at the previous moment, the 2-bit vector is represented as [0, 1], which means that the pixel generates a DN event. In this embodiment, if the value of the illumination contrast is positive, the ambient light intensity becomes stronger, but not all pixels generate an UP event, then the overall event data includes binary vectors corresponding to UP event pixels and pixels without events, and this embodiment can obtain the number of event pixels by counting the number of binary vectors used to characterize the generation of events.

[0030] Furthermore, the event generation rate of this embodiment represents the percentage of the number of event pixels to the total number of pixels in the pixel array area of ​​interest. The pixel array area of ​​interest may be the entire pixel array of the image sensor or a partial pixel array area of ​​the entire pixel array. This embodiment does not make a sole limitation on this.

[0031] It should be noted that in an optional implementation of this embodiment, the triggering of the aforementioned light intensity change event is achieved by a preset light control system, the light control system includes an electrically connected voltage unit and a light source, the voltage unit is configured to output different light source driving voltages, the light source is configured to output corresponding light illuminance (i.e., light intensity) in response to different light source driving voltages, in practical applications, the light source is an LED lamp, and the emitted light beam is a uniform light beam to ensure that the light intensity reaching each pixel of the event camera is consistent, in addition, the event camera is used to collect event data under dynamically changing lighting conditions. In a preferred embodiment, the system also includes an ambient light sensor, which is located on the same COB board as the event camera, and the two can be approximately considered to receive the same light intensity, and the light intensity received by the event camera can be measured based on the ambient light sensor.

[0032] Furthermore, the voltage unit of this embodiment may include a first voltage unit and a second voltage unit that work in time-sharing switching, wherein the first voltage unit outputs a first light source driving voltage for driving the light source to output a reference light illuminance; and the second voltage unit is controlled to output a second light source driving voltage according to a preset adjustment ratio based on the first light source driving voltage, for driving the light source to output a target light illuminance of a specific light contrast. It can be understood that the process of the light source jumping from the reference light illuminance to the target light illuminance is also the triggering process of the light intensity change event.

[0033] In one implementation of this embodiment, the light intensity change event includes a first light intensity change event and a second light intensity change event, the first light intensity change event is triggered by the light contrast applied to the reference light illuminance, and the second light intensity change event is triggered by the cancellation of the light contrast. Accordingly, the step of acquiring the event generation rate of the image sensor includes: controlling the image sensor to collect first event data at the time of the first light intensity change event, and collecting second event data at the time of the second light intensity change event; and calculating the event generation rate of the image sensor based on the first event data and the second event data.

[0034] Specifically, the event polarity of the first event data and the second event data of this embodiment is opposite, and the two event data are UP event data and DN event data, the UP event data includes UP events generated by event pixels, and the DN event data includes DN events generated by event pixels. In this embodiment, considering that under the reference light illumination, the process of generating and canceling the illumination contrast involves two opposite changes in ambient light intensity, if the value of the illumination contrast is positive, then when the illumination contrast is generated, the ambient light intensity becomes stronger, and the UP event data can be collected at this time, and when the illumination contrast is canceled, the ambient light intensity becomes weaker, and the DN event data can be collected at this time. It should be noted that, further preferably, the generation time of the first light intensity change event and the second light intensity change event of this embodiment can be separated by a preset time length, that is, after the first light intensity change event is generated, it is maintained at the current light contrast for a certain time length, and then the light contrast is controlled to be canceled to restore the reference light illumination.

[0035] Further, in one implementation of the present embodiment, the above-mentioned step of counting the event generation rate of the image sensor based on the first event data and the second event data includes: counting the event generation rate of the image sensor based on the first event data and the second event data, respectively; wherein the event generation rate includes a first event generation rate corresponding to the first event data and a second event generation rate corresponding to the second event data; and / or, counting the event generation rate of the image sensor in combination with the first event data and the second event data; wherein the event generation rate is the average event generation rate of the first event generation rate and the second event generation rate.

[0036] Specifically, the present embodiment can simultaneously realize the collection of event data with opposite event polarities through a single illumination contrast adjustment process. Thus, the event generation rate test of two event types can be simultaneously realized through a single test process, and the test efficiency is higher. In addition, the present embodiment can also combine the two event types to count the overall event generation rate, and can perform a more comprehensive test on the event generation rate of the event camera with higher accuracy.

[0037] In one implementation of the present embodiment, before the step of obtaining the event generation rate of the image sensor while adjusting the working parameters of the target first-type functional element among multiple functional elements, the step also includes: obtaining the initial delay parameters of all first-type functional elements respectively; and determining the first-type functional element with the largest initial delay parameter as the target first-type functional element.

[0038] Specifically, during the parameter configuration process of this embodiment, the first functional element to be adjusted should be a first-type functional element, so as to achieve the adjustment of the working parameters of a single functional element to reduce the delay while providing a higher event generation rate, so that in the subsequent adjustment of the working parameters of the second-type functional element to reduce the delay, there is a certain margin for reducing the event generation rate, so as to avoid the event generation rate of the image sensor cannot be guaranteed after the delay reduction is achieved. However, in actual applications, the proportion of the delay of different first-type functional elements in the overall delay of the system is different. In this embodiment, the first-type functional element with the largest delay proportion is determined as the first first-type functional element to be parameter adjusted, so that the delay reduction of the first functional element is completed while having the largest margin for reducing the event generation rate, and then when the working parameters of the second-type functional element are adjusted later, its delay is allowed to be reduced to a greater extent. In a preferred implementation of this embodiment, the target first-type functional element is a voltage comparison element.

[0039] Step 102: When the event generation rate reaches a preset event generation rate upper limit, the operating parameters of other functional elements in the plurality of functional elements are adjusted in turn in a direction of reducing the delay parameter.

[0040] Specifically, in practical applications, the lower the delay of a functional element, the better. Too low a delay may result in the inability to guarantee the basic data processing performance of the functional element. Based on this, this embodiment adds a certain event generation rate reduction margin to the event generation rate lower limit value corresponding to the expected light response sensitivity of the image sensor to obtain the event generation rate upper limit value. Then, in the process of adjusting the working parameters of the first type of functional element, the parameter adjustment of the first type of functional element is completed only when its delay is reduced to a certain extent and the event generation rate is increased to the preset upper limit value, and then the parameter adjustment of other functional elements is performed.

[0041] It should be understood that in this embodiment, the operating parameters of the functional elements are adjusted in the direction of reducing the delay parameters. For example, if the operating parameters of the functional elements are higher, the delay parameters are lower, then the adjustment is made in the monotonically increasing direction based on the initial operating parameters. Conversely, if the operating parameters of the functional elements are lower, the delay parameters are lower, then the adjustment is made in the monotonically decreasing direction based on the initial operating parameters.

[0042] In one implementation of the present embodiment, the above-mentioned step of sequentially adjusting the working parameters of other functional elements among the multiple functional elements in the direction of reducing the delay parameter includes: sequentially adjusting the working parameters of other functional elements among the multiple functional elements in the direction of reducing the delay parameter in the order of cross-adjustment of the first type functional elements and the second type functional elements.

[0043] Specifically, in order to keep the event generation rate of the image sensor above the upper limit of the event generation rate as much as possible during the parameter adjustment process, the present embodiment may alternately adjust different types of functional elements among all functional elements, that is, perform parameter adjustment on all functional elements in the order of “first functional element 1, second functional element 1, first functional element 2, second functional element 2…” Through this adjustment sequence, in order to reduce the delay of the functional elements, after each adjustment of the working parameters of a second functional element to reduce the event generation rate, a first functional element is adjusted immediately thereafter, so that the event generation rate can be increased while reducing the delay to compensate for the previously reduced event generation rate.

[0044] In another implementation of the present embodiment, the parameter configuration method also includes: in the process of adjusting the target second-type functional element among other functional elements, if the event generation rate reaches the lower limit of the event generation rate, switching to the first-type functional element whose working parameters have an adjustment margin, and adjusting the working parameters in the direction of reducing the delay parameters; when the switched first-type functional element reaches the preset adjustment target, switching back to the target second-type functional element and continuing to adjust the working parameters in the direction of reducing the delay parameters.

[0045] Specifically, in actual applications, in order to achieve the purpose of delay reduction of the second-type functional element, there may be a situation where the parameter adjustment of the second-type functional element has not been completed and the event generation rate of the image sensor is lower than the allowed event generation rate lower limit. At this time, the present embodiment suspends the parameter adjustment of the second-type functional element, switches to the first-type functional element with parameter adjustment margin to continue the delay reduction adjustment, so as to compensate for the event generation rate that has reached the lower limit, and regain a certain allowable decrease margin (i.e., the adjustment target), and then switches back to the previously adjusted second-type functional element to continue the parameter adjustment. It should be noted that in the present embodiment, the first-type functional element whose working parameter has an adjustment margin can be a first-type functional element that has been adjusted before, such as the first adjusted first-type functional element, or other first-type functional elements that have not been adjusted. The present embodiment does not make a sole limitation on this. In addition, the working parameter mentioned in the present embodiment has an adjustment margin, which means that the current delay parameter of the functional element has not reached the minimum delay parameter.

[0046] Step 103 : when the total delay parameter of all functional elements is lower than the preset parameter threshold and the event generation rate of the image sensor is higher than the preset event generation rate lower limit, configure the image sensor based on the adjusted target operating parameters of each functional element.

[0047] Specifically, in the present embodiment, the delay parameter can be understood as the product of the working parameter of the functional element and the system clock cycle. In the present embodiment, after all the functional elements are adjusted, if the sum of the delay parameters of all the functional elements is lower than the preset delay parameter threshold, and at this time the event generation rate of the image sensor can still be maintained above the lower limit of the event generation rate, then at this time, the system response delay is effectively reduced while taking into account the basic requirements of the image sensor's light response sensitivity. The current parameter adjustment of the functional elements is effectively achieved, and the image sensor is further configured according to the working parameters (that is, the target working parameters) adjusted for each functional element, so as to ensure that the image sensor operates at a higher frame rate.

[0048] In one implementation of the present embodiment, the above-mentioned step of configuring the image sensor based on the adjusted target operating parameters of each functional element includes: obtaining the adjusted target operating parameters of each functional element under different light intensity change events; performing weighted average calculation on the target operating parameters of each functional element corresponding to different light intensity change events to obtain common operating parameters; and configuring the image sensor according to the common operating parameters of each functional element.

[0049] Specifically, in this embodiment, for different light intensity change events, the image sensor can be configured for the target working parameters obtained by adjusting each functional element correspondingly under different light intensity change events. In this way, each time a light intensity change event is detected, the corresponding working parameter combination needs to be obtained to reconfigure the image sensor, and the accuracy and complexity of the image sensor configuration are both high. In this embodiment, preferably, the universal working parameters of each functional element can be calculated based on the working parameters adjusted under different light intensity change events. The image sensor only needs to be configured once using the universal working parameters, and the universal working parameters are adapted to the system delay control requirements under all light intensity change events. It should be understood that in this embodiment, the universal working parameters of each functional element corresponding to different light intensity change events are calculated by weighted average calculation, and the universal working parameters of each functional element can be obtained. The weights of the multiple working parameters can be the same, or they can be set differently according to the light intensity change amount represented by the light intensity change event. This embodiment does not make a unique limitation on this.

[0050] Based on the technical solution of the embodiment of the present application described above, for a preset light intensity change event, while adjusting the working parameters of a target first type functional element among multiple functional elements, the event generation rate of the image sensor is obtained, and the delay parameter of the first type functional element is negatively correlated with the event generation rate of the image sensor; when the event generation rate reaches the preset event generation rate upper limit, the working parameters of other functional elements among the multiple functional elements are adjusted in turn in the direction of reducing the delay parameter; when the total delay parameter of all functional elements is lower than the preset parameter threshold, and the event generation rate of the image sensor is higher than the preset event generation rate lower limit, the image sensor is configured based on the adjusted target working parameters of each functional element. Through the implementation of the solution of the present application, combined with the event generation rate and the total delay parameter of the image sensor, the working parameters of the functional elements are adjusted under specific light intensity change events, which effectively reduces the system response delay and improves the imaging frame rate of the event camera.

[0051] Figure 2 The method in is a detailed parameter configuration method provided in the second embodiment of the present application, and the parameter configuration method includes:

[0052] Step 201 : Acquire initial delay parameters of all first-type functional elements respectively, and determine the first-type functional element with the largest initial delay parameter as a target first-type functional element.

[0053] Specifically, the image sensor of the event camera of this embodiment includes multiple functional elements, and the multiple functional elements include a first type of functional element and a second type of functional element. The delay parameter of the first type of functional element is negatively correlated with the event generation rate of the image sensor, and the delay parameter of the second type of functional element is positively correlated with the event generation rate of the image sensor.

[0054] Step 202 : for a preset light intensity change event, while adjusting the operating parameters of a target first type functional element among a plurality of functional elements, obtain an event generation rate of the image sensor.

[0055] Specifically, during the parameter configuration process of this embodiment, the first functional element to be adjusted should be a first-type functional element, so as to achieve adjusting the working parameters of a single functional element to reduce delay while providing a higher event generation rate, so that in the subsequent process of adjusting the working parameters of the second-type functional element to reduce delay, there is a certain margin for reducing the event generation rate, thereby avoiding the event generation rate of the image sensor cannot be guaranteed after the delay reduction is achieved.

[0056] Step 203: When the event generation rate reaches a preset event generation rate upper limit, the operating parameters of other functional elements in the plurality of functional elements are adjusted in turn in a direction of reducing the delay parameter.

[0057] In practical applications, the lower the delay of a functional element, the better. Too low a delay may result in the inability to guarantee the basic data processing performance of the functional element. In the process of adjusting the working parameters of the first type of functional element, the parameter adjustment of the first type of functional element is completed only when its delay is reduced to a certain level and the event generation rate is increased to a preset upper limit value, and then the parameter adjustment of other functional elements is performed.

[0058] Step 204: During the adjustment of the target second type functional element among other functional elements, if the event generation rate reaches the lower limit of the event generation rate, switch to the first type functional element whose operating parameter has an adjustment margin, and adjust the operating parameter in the direction of reducing the delay parameter.

[0059] Step 205: When the switched first-type functional element reaches the preset adjustment target, switch back to the target second-type functional element to continue adjusting the working parameters in the direction of decreasing the delay parameter.

[0060] Specifically, in this embodiment, during the process of adjusting the parameters of the second type functional element, if the event generation rate of the image sensor decreases significantly and is lower than the lower limit of the event generation rate, it is temporarily switched to the first type functional element with parameter adjustment margin to continue the delay reduction adjustment to compensate for the event generation rate reaching the lower limit, and then the second type functional element is adjusted normally.

[0061] Step 206 : When the total delay parameter of all functional elements is lower than the preset parameter threshold, and the event generation rate of the image sensor is higher than the preset event generation rate lower limit, the adjusted target operating parameters of each functional element are saved.

[0062] Specifically, after all functional elements are adjusted, if the sum of the delay parameters of all functional elements is lower than the preset delay parameter threshold, and the event generation rate of the image sensor can still be maintained above the lower limit of the event generation rate, then the system response delay is effectively reduced while taking into account the basic requirements of the image sensor's light response sensitivity. This parameter adjustment is effectively achieved, and the adjusted parameters are associated with the current light intensity change event and recorded.

[0063] Step 207 , performing weighted average calculation on the target operating parameters of each functional element corresponding to different light intensity change events to obtain a universal operating parameter.

[0064] Step 208: Configure the image sensor according to the common working parameters of each functional element.

[0065] This embodiment performs weighted average calculation on multiple operating parameters of each functional element corresponding to different light intensity change events to obtain universal operating parameters of each functional element. The universal operating parameters only require a single configuration of the image sensor, and the universal operating parameters are suitable for system delay control requirements under all light intensity change events.

[0066] It should be understood that the size of the serial number of each step in this embodiment does not mean the order of execution of the steps. The execution order of each step should be determined by its function and internal logic, and should not constitute a sole limitation on the implementation process of the embodiment of this application.

[0067] Figure 3 A parameter configuration device is provided in the third embodiment of the present application. The parameter configuration device is applied to an event camera. The image sensor of the event camera includes multiple functional elements. The multiple functional elements include a first type functional element and a second type functional element. The delay parameter of the first type functional element is negatively correlated with the event generation rate of the image sensor. The delay parameter of the second type functional element is positively correlated with the event generation rate of the image sensor. Figure 3 As shown, the parameter configuration device mainly includes:

[0068] An acquisition module 301 is used to acquire an event generation rate of the image sensor while adjusting the working parameters of a target first type functional element among the plurality of functional elements for a preset light intensity change event;

[0069] An adjustment module 302, configured to adjust the operating parameters of other functional elements in the plurality of functional elements in turn in a direction of decreasing the delay parameter when the event generation rate reaches a preset event generation rate upper limit;

[0070] The configuration module 303 is used to configure the image sensor based on the adjusted target working parameters of each functional element when the total delay parameter of all functional elements is lower than the preset parameter threshold and the event generation rate of the image sensor is higher than the preset event generation rate lower limit.

[0071] In some implementations of this embodiment, the parameter configuration device further includes: a determination module. The acquisition module is further used to: respectively acquire the initial delay parameters of all first-type functional elements; and the determination module is used to: determine the first-type functional element with the largest initial delay parameter as the target first-type functional element.

[0072] In some implementations of this embodiment, the adjustment module is specifically used to: sequentially adjust the operating parameters of other functional elements in the plurality of functional elements in a direction of reducing the delay parameter in the order of cross-adjustment of the first type functional elements and the second type functional elements.

[0073] In some implementations of this embodiment, the adjustment module is also used for: in the process of adjusting the target second-type functional element in other functional elements, if the event generation rate reaches the lower limit of the event generation rate, switching to the first-type functional element whose working parameters have an adjustment margin, and adjusting the working parameters in the direction of reducing the delay parameters; when the switched first-type functional element meets the preset adjustment target, switching back to the target second-type functional element and continuing to adjust the working parameters in the direction of reducing the delay parameters.

[0074] In some implementations of the present embodiment, the configuration module is specifically used to: obtain the adjusted target operating parameters of each functional element under different light intensity change events; perform weighted average calculation on the target operating parameters of each functional element corresponding to different light intensity change events to obtain common operating parameters; and configure the image sensor according to the common operating parameters of each functional element.

[0075] In some implementations of this embodiment, the light intensity change event includes a first light intensity change event and a second light intensity change event, the first light intensity change event is triggered by the light contrast applied to the reference light illuminance, and the second light intensity change event is triggered by the cancellation of the light contrast. Accordingly, the acquisition module is specifically used to: control the image sensor to collect first event data at the time of the first light intensity change event, and collect second event data at the time of the second light intensity change event; wherein the event polarity of the first event data is opposite to that of the second event data; and count the event generation rate of the image sensor based on the first event data and the second event data.

[0076] Furthermore, in some implementations of the present embodiment, when the acquisition module executes the above-mentioned function of counting the event generation rate of the image sensor based on the first event data and the second event data, it is specifically used to: count the event generation rate of the image sensor based on the first event data and the second event data, respectively; wherein the event generation rate includes a first event generation rate corresponding to the first event data and a second event generation rate corresponding to the second event data.

[0077] Furthermore, in some other implementations of the present embodiment, when the acquisition module executes the above-mentioned function of counting the event generation rate of the image sensor based on the first event data and the second event data, it is specifically used to: count the event generation rate of the image sensor in combination with the first event data and the second event data; wherein the event generation rate is the average event generation rate of the first event generation rate and the second event generation rate.

[0078] It should be noted that the parameter configuration method in the first embodiment can be implemented based on the parameter configuration device provided in this embodiment. Ordinary technical personnel in the relevant field can clearly understand that for the convenience and conciseness of description, the specific working process of the parameter configuration device described in this embodiment can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0079] According to the parameter configuration device provided in this embodiment, for a preset light intensity change event, while adjusting the working parameters of a target first type functional element among multiple functional elements, the event generation rate of the image sensor is obtained, and the delay parameter of the first type functional element is negatively correlated with the event generation rate of the image sensor; when the event generation rate reaches the preset event generation rate upper limit, the working parameters of other functional elements among the multiple functional elements are adjusted in turn in the direction of reducing the delay parameter; when the total delay parameter of all functional elements is lower than the preset parameter threshold, and the event generation rate of the image sensor is higher than the preset event generation rate lower limit, the image sensor is configured based on the working parameters adjusted to each functional element. Through the implementation of the scheme of this application, combined with the event generation rate and the total delay parameter of the image sensor, the working parameters of the functional elements are adjusted under specific light intensity change events, which effectively reduces the system response delay and improves the imaging frame rate of the event camera.

[0080] Figure 4 A terminal device is provided in the fourth embodiment of the present application. The terminal device can be used to implement the parameter configuration method in the above embodiment, mainly including:

[0081] The memory 401, the processor 402, and the computer program 403 stored in the memory 401 and executable on the processor 402, the memory 401 and the processor 402 are connected by communication. When the processor 402 executes the computer program 403, the method in the above-mentioned embodiment 1 or 2 is implemented. The number of processors can be one or more.

[0082] The memory 401 may be a high-speed random access memory (RAM) memory, or a non-volatile memory, such as a disk memory. The memory 401 is used to store executable program codes, and the processor 402 is coupled to the memory 401 .

[0083] Furthermore, the embodiment of the present application also provides a computer-readable storage medium, which may be provided in the terminal device in the above embodiment. The computer-readable storage medium may be the above Figure 4 Memory in the illustrated embodiment.

[0084] The computer readable storage medium stores a computer program, and when the program is executed by the processor, the parameter configuration method in the aforementioned embodiment is implemented. Furthermore, the computer storable medium can also be a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk or an optical disk, and other media that can store program codes.

[0085] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0086] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0087] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0088] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a readable storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned readable storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0089] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0090] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0091] The above is a description of the parameter configuration method and related devices provided in the present application. For technicians in this field, according to the ideas of the embodiments of the present application, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A parameter configuration method, characterized in that: Applied to an event camera, the image sensor of the event camera includes a plurality of functional elements, the plurality of functional elements include a first type functional element and a second type functional element, the delay parameter of the first type functional element is negatively correlated with the event generation rate of the image sensor, the delay parameter of the second type functional element is positively correlated with the event generation rate of the image sensor, and the parameter configuration method includes: For a preset light intensity change event, while adjusting the operating parameters of a target first type functional element among the plurality of functional elements, acquiring an event generation rate of the image sensor; When the event generation rate reaches a preset event generation rate upper limit, sequentially adjusting the operating parameters of other functional elements in the plurality of functional elements in a direction of reducing the delay parameter; When the total delay parameter of all the functional elements is lower than a preset parameter threshold and the event generation rate of the image sensor is higher than a preset event generation rate lower limit, the image sensor is configured based on the adjusted target operating parameters of each of the functional elements.

2. The parameter configuration method according to claim 1, characterized in that: Before the step of obtaining the event generation rate of the image sensor while adjusting the operating parameters of the target first type functional element among the plurality of functional elements, the method further includes: respectively obtaining initial delay parameters of all functional elements of the first type; The first-type functional element having the largest initial delay parameter is determined as the target first-type functional element.

3. The parameter configuration method according to claim 1, characterized in that: The step of sequentially adjusting the operating parameters of other functional elements in the plurality of functional elements in a direction of decreasing the delay parameter comprises: According to the order of cross-adjustment of the first-type functional elements and the second-type functional elements, the operating parameters of other functional elements among the plurality of functional elements are adjusted in turn in the direction of reducing the delay parameter.

4. The parameter configuration method according to claim 1, characterized in that: The parameter configuration method further includes: In the process of adjusting the target second-type functional element among the other functional elements, if the event generation rate reaches the event generation rate lower limit, switching to the first-type functional element whose operating parameter has an adjustment margin, and adjusting the operating parameter in the direction of reducing the delay parameter; When the switched first-type functional element reaches a preset adjustment target, the target second-type functional element is switched back to continue adjusting the working parameter in the direction of decreasing the delay parameter.

5. The parameter configuration method according to claim 1, characterized in that: The step of configuring the image sensor based on the adjusted target operating parameters of each of the functional elements comprises: Obtaining the adjusted target operating parameters of each of the functional elements under different light intensity change events; Performing weighted average calculation on the target operating parameters of each functional element corresponding to different light intensity change events to obtain a universal operating parameter; The image sensor is configured according to the common operating parameters of each of the functional elements.

6. The parameter configuration method according to any one of claims 1 to 5, characterized in that: The light intensity change event includes a first light intensity change event and a second light intensity change event, wherein the first light intensity change event is triggered by a light contrast applied to a reference light illuminance, and the second light intensity change event is triggered by cancellation of the light contrast; The step of obtaining the event generation rate of the image sensor comprises: Controlling the image sensor to collect first event data at the time of the first light intensity change event, and to collect second event data at the time of the second light intensity change event; wherein the first event data and the second event data have opposite event polarities; The event generation rate of the image sensor is counted based on the first event data and the second event data.

7. The parameter configuration method according to claim 6, characterized in that: The step of calculating the event generation rate of the image sensor based on the first event data and the second event data includes: Counting event generation rates of the image sensor based on the first event data and the second event data respectively; wherein the event generation rates include a first event generation rate corresponding to the first event data and a second event generation rate corresponding to the second event data; And / or, combining the first event data and the second event data to count the event generation rate of the image sensor; wherein the event generation rate is the average event generation rate of the first event generation rate and the second event generation rate.

8. A parameter configuration device, characterized in that: Applied to an event camera, the image sensor of the event camera includes a plurality of functional elements, the plurality of functional elements include a first type functional element and a second type functional element, the delay parameter of the first type functional element is negatively correlated with the event generation rate of the image sensor, the delay parameter of the second type functional element is positively correlated with the event generation rate of the image sensor, and the parameter configuration device includes: an acquisition module, configured to acquire an event generation rate of the image sensor while adjusting the operating parameters of a target first-type functional element among the plurality of functional elements for a preset light intensity change event; An adjustment module, configured to adjust the operating parameters of other functional elements in the plurality of functional elements in turn in a direction of decreasing the delay parameter when the event generation rate reaches a preset event generation rate upper limit; A configuration module is used to configure the image sensor based on the adjusted target operating parameters of each of the functional elements when the total delay parameter of all the functional elements is lower than a preset parameter threshold and the event generation rate of the image sensor is higher than a preset event generation rate lower limit.

9. A terminal device, characterized in that: The device comprises a memory and a processor, wherein: The processor is used to execute the computer program stored in the memory; When the processor executes the computer program, the steps in the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 7 are implemented.

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