Depth Camera Trigger Synchronization for Precise Sensor Fusion
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Solution Overview
Problem
The accuracy of driving information for unmanned apparatuses is limited by the fusion accuracy of detection information from multiple sensors, necessitating improved methods to enhance sensor fusion precision.
Innovation Solution
A multi-sensor fusion system with a trigger module and GPS positioning system synchronizes depth camera modules using pulse signals to align local time with UTC time, reducing trigger time errors and enabling precise timestamping for improved image information fusion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple depth camera modules are triggered independently without centralized synchronization, then each camera can operate autonomously, but the trigger time errors between cameras increase and fusion accuracy deteriorates
Solution Approach 1:
The patent merges the trigger signal generation function into a single centralized trigger module that controls all depth camera modules. This centralization ensures unified trigger timing across all cameras, eliminating trigger time errors between independent cameras while maintaining operational autonomy through standardized trigger interfaces.
Solution Approach 2:
The trigger module acts as an intermediary between the control system and multiple depth camera modules. It receives synchronization signals and distributes standardized trigger signals to all cameras, mediating the timing coordination without requiring complex direct communication between cameras themselves.
2Measurement precision
If local clock time is used for timestamping without GPS synchronization, then the system operates independently, but time alignment errors accumulate and fusion precision decreases
Solution Approach 1:
The system uses GPS synchronization to provide a universal time reference that serves all depth camera modules and the host computer. This universal time source ensures consistent timestamping across the entire system, enabling accurate time alignment for fusion while maintaining operational independence through standardized time distribution.
3Measurement precision
If trigger signals are distributed to all depth camera modules simultaneously from a single source, then trigger time consistency is improved, but signal transmission complexity increases
Solution Approach 1:
The trigger module generates periodic trigger signals at standardized intervals that are distributed to all depth camera modules. This periodic action ensures consistent trigger timing across all cameras while using simple, repeatable signal patterns that reduce transmission complexity compared to custom timing protocols.
Data Source
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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 (1) including a pulse signal output (11), the pulse signal output (11) being used to output a pulse signal; and a plurality of depth camera modules (2; 3), at least one depth camera module (2) including a trigger signal generation module (21) and a trigger signal output (22), the trigger signal generation module (21) being used to generate a trigger signal according to the pulse signal, and the trigger signal output (22) being connected to the trigger signal generation module (21), and used to output the trigger signal, where the trigger signal is used for triggering the at least one depth camera module (2) to perform an exposure operation, and other depth camera modules (3) perform exposure operations according to the received trigger signal output by the trigger signal output (22).