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US 12,361,720 B2Granted
Synchronization device, synchronization method, and non-transitory tangible computer readable storage medium
AssigneeDenso Corporation
InventorTadayuki Yokota
Life of this patent
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Abstract
A synchronization device is for a vehicle equipped with a plurality of sensors including an image sensor. The synchronization device acquires, as data related to a motion state of the vehicle, first time-series data based on detection data detected by the image sensor and second time-series data based on detection data detected by a sensor other than the image sensor. The synchronization device calculates shift time required for matching the first time-series data with the second time-series data.
Claims15
A synchronization device for a vehicle equipped with a plurality of sensors including an image sensor, the synchronization device comprising:
- a sensor information acquisition unit configured to acquire, as data related to a motion state of the vehicle, first time-series data included in detection data detected by the image sensor and second time-series data included in detection data detected by a second sensor other than the image sensor;
- a shift time calculation unit configured to calculate shift time required for matching the first time-series data with the second time-series data;
- and
- a synchronization unit configured to synchronize the detection data by the image sensor with the detection data by the second sensor based on the shift time, wherein
- the sensor information acquisition unit acquires, as the first time-series data, time-series angular velocity data based on changes in feature points extracted from time-series image data detected by the image sensor, and acquires, as the second time-series data included in the detection data detected by the second sensor, second time-series angular velocity data detected by an inertial sensor that detects angular velocity of the vehicle from an inertial force acting on the vehicle, and
- the synchronization unit delays, by the shift time, the detection data detected by the inertial sensor based on the detection data by the image sensor, and
- wherein
- the shift time calculation unit selects an arbitrary interest point from the first time-series data and two points from the second time-series data whose times are closest to the arbitrary interest point,
- the shift time calculation unit interpolates between the two points of the second time-series data using an interpolation curve or a straight line as an interpolation line, and
- the shift time calculation unit calculates a point where a perpendicular line from the arbitrary interest point intersects the interpolation line to define a comparison point in the second time-series data.
7 more elements
A synchronization method for a vehicle equipped with a plurality of sensors including an image sensor, and executed by a processor, the synchronization method comprising:
- acquiring, as data related to a motion state of the vehicle, first time-series data included in detection data detected by the image sensor and second time-series data included in detection data detected by a second sensor other than the image sensor;
- calculating shift time required for matching the first time-series data with the second time-series data, wherein calculating the shift time comprises:
- selecting an arbitrary interest point from the first time-series data and two points from the second time-series data whose times are closest to the arbitrary interest point;
- interpolating between the two points of the second time-series data using an interpolation curve or a straight line as an interpolation line;
- and
- calculating a point where a perpendicular line from the arbitrary interest point intersects the interpolation line to define a comparison point in the second time-series data;
- and
- synchronizing the detection data by the image sensor with the detection data by the second sensor based on the shift time, wherein
- the acquiring of time-series data includes acquiring, as the first time-series data, time-series angular velocity data based on changes in feature points extracted from time-series image data detected by the image sensor, and acquiring, as the second time-series data included in the detection data detected by the second sensor, second time-series angular velocity data detected by an inertial sensor that detects angular velocity of the vehicle from an inertial force acting on the vehicle, and
- the synchronizing the detection data by the image sensor with the detection data by the sensor based on the shift time includes delaying, by the shift time, the detection data detected by the inertial sensor based on the detection data by the image sensor.
7 more elements
A non-transitory tangible computer readable storage medium comprising instructions executed by a processor of a synchronization device, the synchronization device being for a vehicle equipped with a plurality of sensors including an image sensor, the instructions comprising:
- acquiring, as data related to a motion state of the vehicle, first time-series data included in detection data detected by the image sensor and second time-series data included in detection data detected by a second sensor other than the image sensor;
- calculating shift time required for matching the first time-series data with the second time-series data, wherein calculating the shift time comprises:
- selecting an arbitrary interest point from the first time-series data and two points from the second time-series data whose times are closest to the arbitrary interest point;
- interpolating between the two points of the second time-series data using an interpolation curve or a straight line as an interpolation line;
- and
- calculating a point where a perpendicular line from the arbitrary interest point intersects the interpolation line to define a comparison point in the second time-series data;
- and
- synchronizing the detection data by the image sensor with the detection data by the second sensor based on the shift time, wherein
- the acquiring of time-series data includes acquiring, as the first time-series data, time-series angular velocity data based on changes in feature points extracted from time-series image data detected by the image sensor, and acquiring, as the second time-series data included in the detection data detected by the second sensor, second time-series angular velocity data detected by an inertial sensor that detects angular velocity of the vehicle from an inertial force acting on the vehicle, and
- the synchronizing the detection data by the image sensor with the detection data by the sensor based on the shift time includes delaying, by the shift time, the detection data detected by the inertial sensor based on the detection data by the image sensor.
7 more elements
Dependencies are inferred from the claim text.