Sensor synchronization
The disclosure relates to a simultaneous localisation and mapping, SLAM, device a data processing unit, computer program and associated method for receiving first-sensor-data, first-motion-data and first-timing-information associated with the first-sensor-data and the first-motion-data; receiving second-sensor-data, second-motion-data and second-timing-information associated with the second-sensor-data and the second-sensor-motion-data; and correlating the first-motion-data with the second-motion-data to identify a relationship between the first-timing-information and the second-timing-information, in which the identified relationship between the first-timing-information and the second-timing-information defines one or more associations between the first-sensor-data and the second-sensor-data.
1 . A computer readable storage medium comprising non-transitory computer program code configure to cause a processor to:
receive first-sensor-data, first-motion-data and first-timing-information from a first-sensor-device, in which the first-timing-information is associated with the first-sensor-data and the first-motion-data;
receive second-sensor-data, second-motion-data and second-timing-information from a second-sensor-device, in which the second-timing-information is associated with the second-sensor-data and the second-motion-data, the first-sensor-device and the second-sensor-device exhibiting similar motion; and
determine a cross-correlation function of the first-motion-data and the second-motion-data to identify a time-offset between the first-timing-information and the second-timing-information, in which the identified time-offset between the first-timing-information and the second-timing-information defines one or more associations between the first-sensor-data and the second-sensor-data.
2 . The computer readable storage medium of claim 1 , in which:
the first-sensor-device is a 3D-camera-device;
the first-sensor-data is 3D-camera-data;
the first-motion-data is camera-motion-data; and
the first-timing-information is camera-timing-information.
3 . The computer readable storage medium of claim 1 , in which each of the first-motion-data and second-motion-data comprises acceleration-data.
4 . The computer readable storage medium of claim 1 , comprising establishing, based on the time-offset, a common time frame for the first-timing-information and the second-timing-information to synchronise the first-sensor-data with the second-sensor-data.
5 . A method comprising:
receiving first-sensor-data, first-motion-data and first-timing-information from a first-sensor-device, in which the first-timing-information is associated with the first-sensor-data and the first-motion-data;
receiving second-sensor-data, second-motion-data and second-timing-information from a second-sensor-device, in which the second-timing-information is associated with the second-sensor-data and the second-motion-data; and
determining a cross-correlation function of the first-motion-data and the second-motion-data to identify a time-offset between the first-timing-information and the second-timing-information, in which the identified time-offset between the first-timing-information and the second-timing-information defines one or more associations between the first-sensor-data and the second-sensor-data.
6 . The method of claim 5 , in which:
the first-sensor-device is a 3D-camera-device;
the first-sensor-data is 3D-camera-data;
the first-motion-data is camera-motion-data; and
the first-timing-information is camera-timing-information.
7 . The method of claim 6 , wherein the camera-motion-data, the camera-timing-information and 3D-map-data corresponding to the 3D-camera data are received from the 3D-camera-device and the second-sensor-data, second-motion-data and second-timing-information are received from the second-sensor-device.
8 . The method of claim 6 , wherein the 3D-camera-device is a simultaneous localisation and mapping, SLAM, device.
9 . The method of claim 5 , in which each of the first-motion-data and second-motion-data comprises acceleration-data.
10 . The method of claim 5 , comprising establishing, based on the time-offset, a common time frame for the first-timing-information and the second-timing-information to synchronise the first-sensor-data with the second-sensor-data.
11 . The method of claim 5 , wherein the second-sensor-data is one or more of the following: imaging-sensor-data, radio-frequency, RF-sensor-data, gas-sensors-data and temperature-sensor-data.
12 . The method of claim 5 , comprising generating a combined dataset having the second-sensor-data and corresponding 3D-map-data with common timing information.
13 . The method of claim 5 , wherein the second-sensor-device is co-located with the 3D-camera-device.
14 . A simultaneous localisation and mapping, SLAM, device comprising:
a first-sensor-device configured to generate first-sensor-data, first-motion-data and first-timing-information, in which the first-timing-information is associated with the first-sensor-data and the first-motion-data; and
a data processing unit including at least one processor and a memory, and configured to:
receive the first-sensor-data, first-motion-data and first-timing-information from the first-sensor-device;
receive second-sensor-data, second-motion-data and second-timing-information from a second-sensor-device, in which the second-timing-information is associated with the second-sensor-data and the second-motion-data; and
determine a cross-correlation function of the first-motion-data and the second-motion-data to identify a time-offset between the first-timing-information and the second-timing-information, in which the identified time-offset between the first-timing-information and the second-timing-information defines one or more associations between the first-sensor-data and the second-sensor-data.
15 . The SLAM device of claim 14 further comprising the second-sensor-device.
16 . The SLAM device of claim 14 further configured to be co-located with the second-sensor-device by physically attaching the second-sensor-device to the SLAM device.