Time synchronization method, external parameter calibration method and device of sensor
Time synchronization method, external parameter calibration method and device of sensor
- Neue Suche nach: ZHANG ZHEN
- Neue Suche nach: LI ZHI
- Neue Suche nach: ZHANG ZHEN
- Neue Suche nach: LI ZHI
The invention relates to a time synchronization method of sensors and an external parameter calibration method and device, and the method comprises the steps: determining a target timestamp for a first sensor and a second sensor, the difference value between the target timestamp and the timestamp of one frame of data of the first sensor is closest to the target initial deviation between the first sensor and the second sensor; acquiring each frame of data acquired by the first sensor and the second sensor respectively by taking the target timestamp as an initial sampling moment; determining one or more first data frames and second data frames from each frame of data acquired by the first sensor and each frame of data acquired by the second sensor; and determining a target second data frame corresponding to each first data frame according to the timestamp corresponding to each first data frame and the timestamp of each second data frame. By adopting the method, the data frames of the first sensor and the second sensor can be ensured to have better time synchronism.
本申请涉及一种传感器的时间同步方法、外参标定方法及装置，所述传感器的时间同步方法包括：为第一传感器和第二传感器确定目标时间戳，目标时间戳与第一传感器的一帧数据的时间戳的差值最接近第一传感器和第二传感器之间的目标初始偏差；获取第一传感器和第二传感器分别以目标时间戳作为初始采样时刻采集到的各帧数据；从第一传感器采集的各帧数据和第二传感器采集的各帧数据中，确定一个或多个第一数据帧以及第二数据帧；根据各个第一数据帧对应的时间戳和各个第二数据帧的时间戳，确定每个第一数据帧对应的一个目标第二数据帧。采用本方法能够保证第一传感器和第二传感器数据帧具有较好的时间同步性。
Dokumentinformationen
Time synchronization method, external parameter calibration method and device of sensor
传感器的时间同步方法、外参标定方法及装置
2024-04-02
Patent
Elektronische Ressource
Chinesisch
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