LiDAR-Image Sensor Fusion Timing for 3D Recognition Alignment
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Solution Overview
Problem
Existing technologies lack a method to synchronize a ranging apparatus and an image-capturing apparatus for improved fusion recognition performance.
Innovation Solution
A sensor fusion system that includes a ranging apparatus with a light source module and an image-capturing apparatus synchronized by a synchronization controller, controlling the timing of light emission and pixel exposure to align the light source and image capture, enabling synchronized distance and image data fusion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a ranging apparatus and an image-capturing apparatus are used separately without synchronization, then each apparatus can independently perform its function, but the fusion recognition performance is insufficient due to lack of coordination between the two sensors
Solution Approach 1:
The patent merges the ranging apparatus and image-capturing apparatus into a coordinated sensor fusion system. The synchronization controller integrates the operation of the light source controller (for ranging) and exposure controller (for image capture), making them work as a unified system to achieve improved fusion recognition performance through coordinated data collection from both sensors.
2Measurement precision
If the light source section emits light continuously, then sufficient light is available for ranging measurements, but the image-capturing apparatus cannot capture clear images due to lack of synchronized exposure control
Solution Approach 1:
The patent implements periodic action by controlling the light source section to emit light in synchronized pulses with the image-capturing apparatus exposure cycles. The synchronization controller coordinates the light emission timing with the exposure timing, creating a periodic pattern where light is emitted only when needed for both ranging measurement and image capture, rather than continuous emission.
3Ease of operation
If the exposure timing of pixels is not synchronized with light emission timing, then the image-capturing apparatus can operate independently, but the fusion of distance and image data lacks spatial and temporal correspondence
Solution Approach 1:
The synchronization controller implements feedback control by monitoring the operation states of both the ranging apparatus and image-capturing apparatus, then adjusting their timing to maintain synchronization. The controller receives feedback about light emission timing and exposure timing, and makes real-time adjustments to ensure that the spatial-temporal correspondence between the two sensor systems is maintained.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances three-dimensional object recognition performance by synchronizing the ranging and image-capturing apparatuses, overcoming limitations of individual data types and improving recognition accuracy.
Implementation Method 1
a light receiver that has a specified light-receiving range, and receives the light that is emitted by the light source section to be reflected off an object
Implementation Method 2
a period-of-time measurement section that measures a period of time from the light source section emitting the light to the light receiver receiving the light reflected off the object, and a distance calculator that calculates a distance to the object
Implementation Method 3
a pixel section that includes a plurality of two-dimensionally arranged pixels, and has an image-capturing range that includes at least a portion of an emission range to which the light is emitted by the light source section
Data Source
AI summary
The present disclosure relates to a sensor fusion system, a synchronization control apparatus, and a synchronization control method that make it possible to improve a performance in fusion recognition by synchronizing a ranging apparatus and an image-capturing apparatus.A sensor fusion system is provided that includes a ranging apparatus, an image-capturing apparatus, and a synchronization controller, the ranging apparatus including a light source module, a light source controller, and a light receiver, the light source module including a light source section, the image-capturing apparatus including a pixel section, an AD converter, and an exposure controller, the synchronization controller controlling the light source controller and the exposure controller such that a timing at which the light source section emits light to a specified region is synchronized with a timing at which a group of pixels corresponding to the specified region is exposed. The present disclosure is applicable to, for example, a sensor fusion system in which LiDAR and an imager are used in synchronization with each other.