Multi-camera frame synchronization control method and self-propelled device
AssigneeBeijing Roborock Innovation Technology Co., Ltd.
InventorsJie Li, Zhanzhi Zhang
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Abstract
A method for performing frame synchronization control on a first camera and a second camera of a self-propelled device includes: sending, in response to capturing a first image frame, a synchronization instruction to a controller of the self-propelled device; in response to receiving the synchronization instruction, determining a sending timepoint of a frame synchronization signal based on a time offset relative to a timepoint of capturing the first image frame; and sending the frame synchronization signal to the second camera at the sending timepoint, thereby controlling the second camera to capture a second image frame.
Claims20
A method for performing frame synchronization control on a first camera and a second camera of a self-propelled device, comprising:
- sending, by the first camera in response to capturing a first image frame, a synchronization instruction to a controller of the self-propelled device;
- in response to receiving the synchronization instruction, determining, by the controller, a sending timepoint of a frame synchronization signal based on a time offset relative to a timepoint of capturing the first image frame;
- and
- sending, by the controller, the frame synchronization signal to the second camera at the sending timepoint, thereby controlling the second camera to capture a second image frame,
- wherein the first camera and the second camera are controlled to perform capturing at least once in a peak-shifting manner within each capturing signal cycle, thereby obtaining at least one first image frame and at least one second image frame within each capturing signal cycle.
A self-propelled device, comprising:
- a first camera, a second camera, and a controller, wherein:
- the first camera is configured to send a synchronization instruction to the controller in response to capturing a first image frame;
- the controller is configured to, in response to receiving the synchronization instruction, determine a sending timepoint of a frame synchronization signal based on a time offset relative to a timepoint of capturing the first image frame;
- and send the frame synchronization signal to the second camera at the sending timepoint, thereby controlling the second camera to capture a second image frame;
- and
- the first camera and the second camera are controlled to perform capturing at least once in a peak-shifting manner within each capturing signal cycle, thereby obtaining at least one first image frame and at least one second image frame within each capturing signal cycle.
A non-transitory computer-readable storage medium, having a computer program stored therein that, when executed by at least one hardware processor, directs the at least one hardware processor to perform a method for performing frame synchronization control on a first camera and a second camera of a self-propelled device, the method comprising:
- sending, in response to capturing a first image frame, a synchronization instruction to a controller of the self-propelled device;
- in response to receiving the synchronization instruction, determining a sending timepoint of a frame synchronization signal based on a time offset relative to a timepoint of capturing the first image frame;
- and
- sending the frame synchronization signal to the second camera at the sending timepoint, thereby controlling the second camera to capture a second image frame,
- wherein the first camera and the second camera are controlled to perform capturing at least once in a peak-shifting manner within each capturing signal cycle, thereby obtaining at least one first image frame and at least one second image frame within each capturing signal cycle.
Dependencies are inferred from the claim text.