Depth Camera Exposure Synchronization for Multi-Sensor Fusion
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Solution Overview
Problem
Current unmanned apparatuses face challenges in achieving accurate fusion of detection information from multiple sensors, which directly affects the accuracy of driving information.
Innovation Solution
A multi-sensor fusion system is implemented, utilizing a trigger module to output pulse signals that synchronize the exposure operations of depth camera modules, and a processor to align local time with UTC time, reducing timing errors and enhancing fusion accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple depth camera modules are used to improve detection accuracy, then measurement precision is improved, but device complexity increases
Solution Approach 1:
Multiple depth camera modules are merged into a unified multi-sensor fusion system with a central trigger module that coordinates all cameras. This combining approach maintains the measurement precision benefits of multiple sensors while managing system complexity through centralized control architecture.
Solution Approach 2:
The trigger module serves multiple functions: generating trigger signals, synchronizing exposure operations across all depth camera modules, and coordinating data collection. This multi-functionality reduces the need for separate control systems for each camera, thereby managing complexity while maintaining detection accuracy.
2Device complexity
If separate trigger signals are used for each depth camera module, then device complexity is reduced, but timing synchronization deteriorates
Solution Approach 1:
Multiple trigger signals for different camera modules are merged into a single centralized trigger module that generates and distributes synchronized trigger signals to all depth camera modules simultaneously, ensuring precise timing synchronization while maintaining simple control architecture.
3Ease of operation
If exposure operations are performed at different times by different depth camera modules, then ease of operation is improved, but measurement precision deteriorates
Solution Approach 1:
The trigger module implements periodic exposure operations across all depth camera modules in a synchronized manner. This periodic synchronized triggering ensures that all cameras capture data at the same time intervals, maintaining fusion accuracy while providing regular operational rhythm that simplifies system control.
Data Source
AI summary
The present disclosure relates to a multi-sensor fusion system and an autonomous mobile apparatus. The multi-sensor fusion system includes: a trigger module including a pulse signal output, the pulse signal output being used to output a pulse signal; and a plurality of depth camera modules, at least one depth camera module including a trigger signal generation module and a trigger signal output, the trigger signal generation module being used to generate a trigger signal according to the pulse signal, and the trigger signal output being connected to the trigger signal generation module, and used to output the trigger signal, where the trigger signal is used for triggering the at least one depth camera module to perform an exposure operation, and other depth camera modules perform exposure operations according to the received trigger signal output by the trigger signal output.