Sensor fusion system, synchronization control apparatus, and synchronization control method

A synchronization control apparatus that controls synchronization of a ranging apparatus and an image-capturing apparatus,

• the ranging apparatus including
• a light source module that includes a light source section and a drive section, the light source section emitting light extending in a first direction, the drive section driving an emission orientation of the light such that the light is emitted in a second direction that is orthogonal to the first direction,
• a light source controller that controls a timing at which the light source section emits the light,
• 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,
• 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 from the light receiver or the light source module on a basis of the measured period of time,
• the image-capturing apparatus including
• 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,
• an AD converter that is arranged in the first direction, and performs AD conversion on signals output from a group of pixels from among the plurality of pixels, the group of pixels being a group of pixels arranged in the pixel section in the first direction, and
• an exposure controller that controls exposure of the plurality of pixels such that the plurality of pixels is scanned in the second direction,
• the synchronization control apparatus comprising
• a synchronization controller that controls the light source controller and the exposure controller such that a timing at which the light source section emits the light to a specified region is synchronized with a timing at which the group of pixels corresponding to the specified region is exposed.

A synchronization control method, comprising

• controlling a light source controller and an exposure controller by a synchronization control apparatus that controls synchronization of a ranging apparatus and an image-capturing apparatus,
• the ranging apparatus including
• a light source module that includes a light source section and a drive section, the light source section emitting light extending in a first direction, the drive section driving an emission orientation of the light such that the light is emitted in a second direction that is orthogonal to the first direction,
• a light source controller that controls a timing at which the light source section emits the light,
• 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,
• 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 from the light receiver or the light source module on a basis of the measured period of time,
• the image-capturing apparatus including
• 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,
• an AD converter that is arranged in the first direction, and performs AD conversion on signals output from a group of pixels from among the plurality of pixels, the group of pixels being a group of pixels arranged in the pixel section in the first direction, and
• an exposure controller that controls exposure of the plurality of pixels such that the plurality of pixels is scanned in the second direction,
• the controlling the light source controller and the exposure controller is performed such that a timing at which the light source section emits the light to a specified region is synchronized with a timing at which the group of pixels corresponding to the specified region is exposed.