Synchronous acquisition method for dark light image and normal light image

Abstract

The invention discloses a synchronous acquisition method for a dark light image and a normal light image. The method comprises the following steps: refracting external incident light through a first optical lens group to obtain parallel light; the beam splitter prism separates the parallel light rays into first light rays and second light rays, the first light rays are reflected to the second optical lens group, the second light rays are transmitted to the third optical lens group, and the brightness of the first light rays is different from that of the second light rays; the second optical lens group focuses the first light on the target surface of the first image sensor, and the third optical lens group focuses the second light on the target surface of the second image sensor; the first image sensor and the second image sensor perform synchronous exposure processing according to the same exposure time and gain parameters after receiving the frame synchronization signal sent by the image processing unit; sending the image after exposure processing to an image processing unit to obtain a dark light image and a normal light image; and the acquired dark light image and the normal light image are highly consistent in scene.

Description

Technical Field

[0001] The present invention relates to the technical field of cameras, and in particular to a method for synchronously collecting dark light images and normal light images. Background Art

[0002] Among related technologies, the application of deep learning and neural networks in low-light image enhancement algorithms has achieved remarkable results, mainly by training models to enhance image quality so that it performs better in low-light conditions.

[0003] For the low-light image enhancement algorithm, the data required for model training is mainly pictures, and pairs of low-light pictures and normal-light pictures are required. The current method of picture collection is mainly to use a camera to take a large number of pictures under different lighting conditions. Because of the time-sharing shooting, if there are non-static objects in the shooting scene, it is impossible to guarantee that the scenes captured by the paired low-light pictures and normal-light pictures are exactly the same. During the inference of the model, due to the inconsistency of the scenes of the collected low-light images and normal-light images, it will not be possible to accurately convert the low-light pictures into normal-brightness pictures. In addition, the additional noise introduced will also cause the model to learn irrelevant features, which will have a negative impact on model training. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the above-mentioned technology to a certain extent. To this end, one purpose of the present invention is to propose a method for synchronously collecting dark light images and normal light images, by installing an optical component into a T-shaped camera lens barrel, and performing light separation and synchronous exposure of different brightness, so that the collected dark light images and normal light images have highly consistent scenes, and even if there are high-speed moving objects in the scene, the degree of smearing of the objects in the image is highly consistent, thereby greatly improving the quality of dark light enhancement algorithm training data.

[0005] To achieve the above-mentioned purpose, an embodiment of the present invention proposes a method for synchronously collecting dark light images and normal light images, which is applied to a camera. The camera includes an optical component, a first image sensor, a second image sensor and an image processing unit, wherein the first image sensor and the second image sensor are respectively connected to the image processing unit, and the optical component includes a first optical lens group, a second optical lens group, a third optical lens group and a beam splitter prism, wherein the first optical lens group is movably installed in the first end cavity of a T-shaped camera barrel, the second optical lens group is installed in the second end cavity of the T-shaped camera barrel, the third optical lens group is installed in the third end cavity of the T-shaped camera barrel, and the beam splitter prism is installed in the middle inner cavity of the T-shaped camera barrel, the second optical lens group is connected to a module board where the first image sensor is located, and the third optical lens group is connected to the module board where the second image sensor is located. The method includes: the first optical lens group collects a brightness signal of an external scene to obtain incident light, and The incident light is refracted to obtain parallel light; the beam splitter prism separates the parallel light into a first light and a second light, and reflects the first light to a second optical lens group, and transmits the second light to a third optical lens group, wherein the brightness of the first light and the second light are different; the second optical lens group focuses the first light on a target surface of the first image sensor, and the third optical lens group focuses the second light on a target surface of the second image sensor; the image processing unit simultaneously sends a frame synchronization signal of a fixed frequency to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor perform synchronous exposure processing according to the same exposure time and gain parameters after receiving the frame synchronization signal; the first image sensor sends the processed first RAW data to the image processing unit, and the second image sensor sends the processed second RAW data to the image processing unit, so as to obtain a dark light image and a normal light image.

[0006] According to the synchronous acquisition method of dark light image and normal light image of the embodiment of the present invention, it is applied to a camera, the optical component is installed in the T-shaped camera lens barrel, the brightness signal of the external scene is acquired by the first optical lens group to obtain the incident light, and the incident light is refracted to obtain parallel light; the beam splitter prism separates the parallel light into the first light and the second light, and reflects the first light to the second optical lens group, and transmits the second light to the third optical lens group, wherein the brightness of the first light and the second light are different; the second optical lens group focuses the first light on the target surface of the first image sensor, and the third optical lens group focuses the second light on the target surface of the second image sensor; the image processing unit is synchronously A frame synchronization signal of a fixed frequency is sent to the first image sensor and the second image sensor at the same time, so that the first image sensor and the second image sensor perform synchronous exposure processing according to the same exposure time and gain parameters after receiving the frame synchronization signal; the first image sensor sends the processed first RAW data to the image processing unit, and the second image sensor sends the processed second RAW data to the image processing unit to obtain a dark light image and a normal light image; thereby, the collected dark light image and normal light image scenes are highly consistent, even if there are high-speed moving objects in the scene, the degree of ghosting of the objects in the image is also highly consistent, thereby greatly improving the quality of dark light enhancement algorithm training data.

[0007] In addition, the synchronous acquisition method of the dark light image and the normal light image proposed in the above embodiment of the present invention may also have the following additional technical features: Optionally, the second optical lens group is fixedly mounted in the second end cavity of the T-shaped camera lens barrel, the third optical lens group is fixedly mounted in the third end cavity of the T-shaped camera lens barrel, and the beam splitter prism is fixedly mounted in the middle inner cavity of the T-shaped camera lens barrel.

[0008] Optionally, the first end cavity is arranged opposite to the third end cavity.

[0009] Optionally, the second optical lens group and the third optical lens group have the same optical parameters and process.

[0010] Optionally, the brightness of the first light is smaller than the brightness of the second light.

[0011] Optionally, the ratio of the reflectivity to the transmittance of the beam splitter prism is one to nine, so that the brightness of the first light is smaller than the brightness of the second light.

[0012] Optionally, the image processing unit sends the same exposure time and gain parameters to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor perform synchronous exposure processing according to the same exposure time and gain parameters after receiving the frame synchronization signal.

[0013] Optionally, the exposure time and gain parameters are set to meet the standard of ensuring that the image brightness of the second image sensor reaches normal. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of a flow chart of a method for synchronously collecting a dark light image and a normal light image according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the overall framework of synchronously imaging dark light images and normal light images by a camera according to an embodiment of the present invention; Figure 3 A schematic diagram of the installation structure of an optical component and a T-shaped camera lens barrel according to an embodiment of the present invention; Figure 4 FIG. 4 is a block diagram of implementing image synchronization according to an embodiment of the present invention. DETAILED DESCRIPTION

[0015] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0016] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0017] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0018] The synchronous acquisition method of dark light image and normal light image is applied to a camera, wherein the camera comprises an optical component, a first image sensor, a second image sensor and an image processing unit, wherein the first image sensor and the second image sensor are respectively connected to the image processing unit, and the optical component comprises a first optical lens group, a second optical lens group, a third optical lens group and a beam splitter prism, wherein the first optical lens group is movably installed in the first end cavity of a T-shaped camera lens barrel, the second optical lens group is installed in the second end cavity of the T-shaped camera lens barrel, the third optical lens group is installed in the third end cavity of the T-shaped camera lens barrel, the beam splitter prism is installed in the middle inner cavity of the T-shaped camera lens barrel, the second optical lens group is docked with a module board where the first image sensor is located, and the third optical lens group is docked with the module board where the second image sensor is located.

[0019] That is to say, the optical component of the present application is installed in a T-shaped camera barrel, and the optical signal collected by the external scene is divided into two paths through the T-shaped structure of the camera barrel and the optical component, one of which is normal light and the other is dark light, and is synchronously exposed through two image sensors of the same model, so that one image sensor collects optical signals of normal light and the other image sensor collects optical signals of dark light. In addition, the two image sensors of the same model are connected to an image processing unit, and the control of the image processing unit can output two synchronously exposed video stream images with the same shooting scene but a huge difference in brightness.

[0020] It should be noted that the optical component installation method of the present application can divide the input light into two optical paths with large differences in brightness, and can be easily applied to imaging systems. Assembling the optical component into a T-shaped camera lens barrel can facilitate optical focusing and docking with the module board, thereby further improving the required imaging effect.

[0021] As an embodiment, the second optical lens group is fixedly mounted in the second end cavity of the T-shaped camera barrel, the third optical lens group is fixedly mounted in the third end cavity of the T-shaped camera barrel, and the beam splitter prism is fixedly mounted in the middle inner cavity of the T-shaped camera barrel; the first end cavity is arranged opposite to the third end cavity.

[0022] In addition, the second optical lens group and the third optical lens group have the same optical parameters and process.

[0023] It should be noted that the optical assembly includes four parts. The current optical manufacturing process can assemble the four parts into a T-shaped camera barrel. The first optical lens group can move in the barrel to facilitate optical focusing of two images. The other three parts are fixedly installed, and the second optical lens group and the third optical lens group have the same optical parameters and process. Specifically, the schematic diagram of the optical assembly being installed into the T-shaped camera barrel is shown in FIG. Figure 3 shown.

[0024] Figure 1 FIG. 1 is a flow chart of a method for synchronously collecting dark light images and normal light images according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps: S101, a first optical lens group collects a brightness signal of an external scene to obtain incident light, and refracts the incident light to obtain parallel light.

[0025] It should be noted that the brightness signal of the external scene is collected through the first optical lens group, and through a precise lens combination process, the incident light is refracted and reaches the next component in the form of parallel light. The field of view of the shooting scene can be adjusted through the lens combination of the first optical lens group.

[0026] S102, a beam splitter prism separates the parallel light into a first light and a second light, reflects the first light to the second optical lens group, and transmits the second light to the third optical lens group, wherein the brightness of the first light and the second light are different.

[0027] That is to say, the parallel light can be separated into a first light and a second light by a beam splitter prism, wherein the first light is obtained by reflection and the second light is obtained by transmission.

[0028] As an example, the brightness of the first light is smaller than the brightness of the second light.

[0029] It should be noted that, in order to obtain a dark light image and a normal light image with different brightness, the brightness of the first light and the second light needs to be different and have a certain difference.

[0030] As a specific example, the ratio of the reflectivity to the transmittance of the beam splitter prism is one to nine, so that the brightness of the first light is smaller than the brightness of the second light.

[0031] That is to say, the transmittance of the dichroic prism is adjusted to 90% and the reflectivity is 10% through the coating process; the parallel light transmitted from the first optical lens group passes through the dichroic prism, and is reflected to the second optical lens group one way and transmitted to the third optical lens group the other way.

[0032] It should be noted that the transmittance and reflectivity of the beam splitter prism can be adjusted according to actual needs.

[0033] Among them, the adjustment of the reflectivity and transmittance of the beam splitter usually involves the physical properties and surface coating of the prism. For example, the polarizing beam splitter (PBS) is a special beam splitter that can separate light by using the polarization characteristics of light; the adjustment of the reflectivity and transmittance of the PBS can be achieved by changing the multilayer film structure on the surface of the prism. This multilayer film structure is usually designed based on the Brewster angle principle. By adjusting the thickness and refractive index of the film layer, the reflection and transmission performance of light in a specific polarization direction can be optimized; in addition, polarizers can be inserted into the reflection and transmission channels of the PBS respectively, and the transmission axis directions of these polarizers can be adjusted to suppress polarization crosstalk to the greatest extent, effectively adjusting the polarization state of the reflected and transmitted light, thereby achieving the desired reflectivity and transmittance.

[0034] S103, the second optical lens group focuses the first light on the target surface of the first image sensor, and the third optical lens group focuses the second light on the target surface of the second image sensor.

[0035] It should be noted that, since the reflectivity of the beam splitter prism is only 10%, the brightness of the optical signal reaching the second optical lens group is only 10% of the brightness of the original optical signal; the second optical lens group then focuses the optical signal on the target surface of the first image sensor, so that the first image sensor captures a dark light scene; since the transmittance of the beam splitter prism is 90%, the brightness of the optical signal reaching the third optical lens group is basically close to the external brightness, and the third optical lens group focuses the optical signal on the target surface of the second image sensor, so that the second image sensor captures a normal light scene. The specific imaging schematic diagram is shown in the figure. Figure 2 shown.

[0036] In addition, the image sensor is used to receive light signals and convert them into electrical signals; as an example, the image sensor can be a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS), etc., and the embodiments of the present application do not specifically limit this.

[0037] S104, the image processing unit sends a frame synchronization signal with a fixed frequency to the first image sensor and the second image sensor simultaneously, so that the first image sensor and the second image sensor perform synchronous exposure processing according to the same exposure time and gain parameters after receiving the frame synchronization signal.

[0038] Among them, the optical lens group focuses the light to one point by adjusting the curvature and focal length of the lens to form a clear image; and collects light from the object to form an inverted image of the object on the image sensor.

[0039] It should be noted that the image processing unit sends the same exposure time and gain parameters to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor perform synchronous exposure processing according to the same exposure time and gain parameters after receiving the frame synchronization signal.

[0040] It should be noted that the exposure time and gain parameters are set to meet the standard that the image brightness of the second image sensor reaches normal.

[0041] It should be noted that the image processing unit may be a system on chip (System on Chip, Soc) capable of processing RAW data of two channels of image sensors simultaneously.

[0042] S105 , the first image sensor sends the processed first RAW data to the image processing unit, and the second image sensor sends the processed second RAW data to the image processing unit, so as to obtain a dark light image and a normal light image.

[0043] like Figure 4 As shown, in order to ensure that the two video images obtained are exposed synchronously, Soc needs to send a fixed-frequency frame synchronization signal (pulse signal) to the two image sensors at the same time. The frequency is equal to the video frame rate. The image sensors are set to start exposure only after receiving the frame synchronization signal, so that the starting time point of the two image sensors capturing the scene is consistent; the exposure time and gain parameters set by Soc for the two image sensors need to be set to the same, and the setting of the exposure time and gain parameters is to meet the normal image brightness of the second image sensor as the setting standard; since the set exposure times are equal, even if there are moving objects in the scene, the moving object smears obtained by the two image sensors are consistent.

[0044] In addition, because the optical components have made the brightness obtained by the first image sensor only 1 / 9 of the brightness obtained by the second image sensor, under the same exposure time and gain parameters, the brightness of the image on the first image sensor will be lower than the brightness of the image on the second image sensor. Therefore, Soc obtains two images with exactly the same scene and consistent motion ghosting, but with large differences in brightness.

[0045] It should be noted that the two-channel images can be transmitted to the back end according to the actual image output interface resources of the Soc and whether the back end has a dedicated image output chip. The output methods include Ethernet, USB, GMSL, AHD, etc.

[0046] In summary, the synchronous acquisition method of dark light image and normal light image according to the embodiment of the present invention is applied to a camera, the optical component is installed in a T-shaped camera lens barrel, the brightness signal of the external scene is acquired by the first optical lens group to obtain incident light, and the incident light is refracted to obtain parallel light; the beam splitter prism separates the parallel light into a first light and a second light, and reflects the first light to the second optical lens group, and transmits the second light to the third optical lens group, wherein the brightness of the first light and the second light are different; the second optical lens group focuses the first light on the target surface of the first image sensor, and the third optical lens group focuses the second light on the target surface of the second image sensor; the image processing unit The image processing unit simultaneously sends a frame synchronization signal of a fixed frequency to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor perform synchronous exposure processing according to the same exposure time and gain parameters after receiving the frame synchronization signal; the first image sensor sends the processed first RAW data to the image processing unit, and the second image sensor sends the processed second RAW data to the image processing unit to obtain a dark light image and a normal light image; thereby, the collected dark light image and normal light image scenes are highly consistent, and even if there are high-speed moving objects in the scene, the degree of ghosting of the objects in the image is also highly consistent, thereby greatly improving the quality of dark light enhancement algorithm training data.

[0047] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0048] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0049] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0050] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0051] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0052] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0053] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0054] In the description of the present invention, it should be understood that 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 present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] In the present invention, 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 connection; 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 ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily being directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0058] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for synchronously collecting dark light images and normal light images, characterized in that: The invention is applied to a camera, the camera comprises an optical component, a first image sensor, a second image sensor and an image processing unit, the first image sensor and the second image sensor are respectively connected to the image processing unit, the optical component comprises a first optical lens group, a second optical lens group, a third optical lens group and a beam splitter prism, wherein the first optical lens group is movably installed in the first end cavity of a T-shaped camera lens barrel, the second optical lens group is installed in the second end cavity of the T-shaped camera lens barrel, the third optical lens group is installed in the third end cavity of the T-shaped camera lens barrel, the beam splitter prism is installed in the middle inner cavity of the T-shaped camera lens barrel, the second optical lens group is docked with a module board where the first image sensor is located, and the third optical lens group is docked with a module board where the second image sensor is located, and the method comprises: The first optical lens group collects a brightness signal of an external scene to obtain incident light, and refracts the incident light to obtain parallel light; The beam splitter prism separates the parallel light into a first light and a second light, reflects the first light to the second optical lens group, and transmits the second light to the third optical lens group, wherein the first light and the second light have different brightness; The second optical lens group focuses the first light on the target surface of the first image sensor, and the third optical lens group focuses the second light on the target surface of the second image sensor; The image processing unit simultaneously sends a frame synchronization signal of a fixed frequency to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor perform synchronous exposure processing according to the same exposure time and gain parameters after receiving the frame synchronization signal; The first image sensor sends the processed first RAW data to the image processing unit, and the second image sensor sends the processed second RAW data to the image processing unit, so as to obtain a dark light image and a normal light image.

2. The method for synchronously collecting dark light images and normal light images according to claim 1, characterized in that: The second optical lens group is fixedly mounted in the second end cavity of the T-shaped camera lens barrel, the third optical lens group is fixedly mounted in the third end cavity of the T-shaped camera lens barrel, and the beam splitter prism is fixedly mounted in the middle inner cavity of the T-shaped camera lens barrel.

3. The method for synchronously collecting dark light images and normal light images according to claim 1, characterized in that: The first end cavity is arranged opposite to the third end cavity.

4. The method for synchronously collecting dark light images and normal light images according to claim 1, characterized in that: The second optical lens group and the third optical lens group have the same optical parameters and process.

5. The method for synchronously collecting dark light images and normal light images according to claim 1, characterized in that: The brightness of the first light is smaller than the brightness of the second light.

6. The method for synchronously collecting dark light images and normal light images according to claim 5, characterized in that: The ratio of the reflectivity to the transmittance of the beam splitter prism is one to nine, so that the brightness of the first light is smaller than the brightness of the second light.

7. The method for synchronously collecting dark light images and normal light images according to claim 1, characterized in that: The image processing unit sends the same exposure time and gain parameters to the first image sensor and the second image sensor, so that the first image sensor and the second image sensor perform synchronous exposure processing according to the same exposure time and gain parameters after receiving the frame synchronization signal.

8. The method for synchronously collecting dark light images and normal light images according to claim 7, characterized in that: The exposure time and gain parameters are set based on the standard that the image brightness of the second image sensor reaches normal.

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