Synchronization controller unit for sensor node
First Claim
1. A vehicular synchronization system, comprising:
- an image sensor, of a vehicle, configured to capture image data for an image sensor field of view;
a light sensor having a radial view, wherein the light sensor is configured to capture light data from around the vehicle in a full rotation; and
a synchronization control unit having a processor, the processor configured to;
receive a data packet from the light sensor, wherein the data packet includes a light sensor time stamp from a reference clock, and wherein the data packet identifies a current orientation of the light sensor;
determine a trigger time when a desired light sensor orientation overlaps with the image sensor field of view based on the current orientation of the light sensor and the light sensor time stamp;
set a timer to elapse at the trigger time; and
control the image sensor to capture image data at the trigger time when the timer elapses.
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Accused Products
Abstract
A vehicular synchronization system includes an image sensor of a vehicle. The image sensor captures image data for an image sensor field of view. The vehicular synchronization system also includes a light sensor having a radial view. The light sensor captures light data from around the vehicle in a full rotation. The vehicular synchronization system includes a synchronization control unit having a data receiving module, a trigger time determination module, a timer module, and a sensor trigger module. The data receiving module receives a data packet from the light sensor. The trigger time determination module determines a trigger time when a desired light sensor orientation overlaps with the image sensor field of view. The timer module sets a timer to elapse at the trigger time. The sensor trigger module controls the image sensor to capture image data at the trigger time when the timer elapses.
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Citations
19 Claims
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1. A vehicular synchronization system, comprising:
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an image sensor, of a vehicle, configured to capture image data for an image sensor field of view; a light sensor having a radial view, wherein the light sensor is configured to capture light data from around the vehicle in a full rotation; and a synchronization control unit having a processor, the processor configured to; receive a data packet from the light sensor, wherein the data packet includes a light sensor time stamp from a reference clock, and wherein the data packet identifies a current orientation of the light sensor; determine a trigger time when a desired light sensor orientation overlaps with the image sensor field of view based on the current orientation of the light sensor and the light sensor time stamp; set a timer to elapse at the trigger time; and control the image sensor to capture image data at the trigger time when the timer elapses. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A computer-implemented method for synchronizing sensor nodes, comprising:
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receiving a data packet from a light sensor having a radial view, wherein the light sensor is configured to capture light data from around a vehicle in a full rotation, and wherein the data packet identifies a current orientation of the light sensor and includes a light sensor time stamp; determining a trigger time when a desired light sensor orientation overlaps with an image sensor field of view of an image sensor based on the current orientation of the light sensor and the light sensor time stamp; setting a timer to elapse at the trigger time; controlling the image sensor to capture image data at the trigger time; and updating the timer for an upcoming trigger time when a next desired light sensor orientation overlaps with the image sensor field of view. - View Dependent Claims (12, 13, 14)
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15. A vehicular synchronization system, comprising:
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an image sensor of a vehicle, wherein the image sensor is configured to capture image data in an image sensor field of view; a light sensor having a radial view, wherein the light sensor is configured to capture light data from around the vehicle in a full rotation; a synchronization control unit having a processor, the processor configured to; receive a data packet from the light sensor, wherein the data packet identifies a current orientation of the light sensor and includes a light sensor time stamp; determine a trigger time when a desired light sensor orientation overlaps with the image sensor field of view based on the current orientation of the light sensor and the light sensor time stamp; set a timer to elapse at the trigger time; and control the image sensor to capture image data at the trigger time when the timer elapses; and a robot operating system having a memory and a light sensor node configured to receive the captured light data and at least one image sensor node configured to receive the captured image data and generate synchronized sensor data by combining the captured image data with the captured light data based on the trigger time. - View Dependent Claims (16, 17, 18, 19)
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Specification