CN110956600A - Information fusion method and device, electronic equipment and readable storage medium - Google Patents

Abstract

The information fusion method, device, electronic device, and readable storage medium provided by the embodiments of the present disclosure can be used for automatic driving and intelligent transportation, and include: receiving sensing result information determined according to collected images; determining according to identification information in the sensing result information The target image acquisition device corresponding to the sensing result; obtain the serial number in the sensing result information, and fuse the sensing result information obtained by multiple image acquisition devices according to the serial number; wherein, the serial number is used to indicate the sequence of the images corresponding to the sensing result information , the target image acquisition device is one of a plurality of image acquisition devices. The information fusion method, device, electronic device, and readable storage medium provided in this embodiment can identify the sensing result information corresponding to the images collected at the same time, so as to fuse the sensing result information at the same time, so that the information time The pokes are consistent, and the fusion results are more accurate.

Description

Information fusion method, device, electronic device and readable storage medium

technical field

The present disclosure relates to computer technology, especially to information fusion technology, which can be used for autonomous driving and intelligent transportation.

Background technique

In order to monitor the road conditions at the intersection more comprehensively, multiple cameras can be set at the intersection, for example, four cameras are set, which are used to shoot four driving directions respectively.

In the prior art, road condition information can be obtained by collecting road condition images through cameras, and then recognizing information included in the images. The road condition information obtained from multiple cameras can be fused.

However, due to the different processing speeds of different devices, the speed of obtaining road condition information may be different, which in turn leads to a time difference in the fusion of road condition information collected by multiple cameras in the later stage, resulting in inaccurate information after fusion.

SUMMARY OF THE INVENTION

Embodiments of the present application provide an information fusion method, apparatus, electronic device, and readable storage medium.

A first aspect of the present disclosure provides an information fusion method, comprising:

Receive the sensing result information determined according to the collected image;

Determine the target image acquisition device corresponding to the sensing result according to the identification information in the sensing result information;

acquiring the sequence number in the sensing result information, and merging the sensing result information obtained by multiple image acquisition devices according to the sequence number;

Wherein, the serial number is used to indicate the order of the images corresponding to the sensing result information, and the target image acquisition device is one of the plurality of image acquisition devices.

In an optional embodiment, it also includes:

The sensing result information is stored in a storage list corresponding to the target image acquisition device.

In this embodiment, the sensing result information can be stored separately, and it is convenient to read the data when the sensing result information is fused.

In an optional embodiment, it also includes:

The driving signals are sent to a plurality of image acquisition devices at the same time, so that the image acquisition devices simultaneously acquire images in response to the received driving signals.

In this embodiment, the image acquisition device can acquire images at the same time, so that these images can be processed to obtain sensing result information corresponding to the same moment.

In an optional implementation manner, the fusion of sensing result information obtained by different image acquisition devices according to the sequence number includes:

acquiring sensing result information corresponding to the plurality of image acquisition devices and having the same serial number;

Fusion processing is performed on the sensing result information.

In this embodiment, the time information of the sensing result information is identified by the serial number, so that the sensing result information at the same moment can be fused.

The acquired sensing result information is received within a preset time.

Setting the preset time for receiving the sensing result information can avoid information fusion failure caused by not being able to receive the sensing result information corresponding to all the image acquisition devices for a long time.

A second aspect of the present disclosure provides an information fusion apparatus, including:

a receiving module for receiving the sensing result information determined according to the collected image;

a device determining module, configured to determine a target image acquisition device corresponding to the sensing result according to the identification information in the sensing result information;

a fusion module, configured to acquire the sequence number in the sensing result information, and fuse the sensing result information obtained by the multiple image acquisition devices according to the sequence number;

Wherein, the serial number is used to indicate the order of the images corresponding to the sensing result information, and the target image acquisition device is one of the plurality of image acquisition devices.

A third aspect of the present disclosure provides an electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to execute any of the information described in the first aspect fusion method.

A fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute any one of the information fusion methods described in the first aspect.

The information fusion method, device, electronic device, and readable storage medium provided by the embodiments of the present disclosure include: receiving sensing result information determined according to a collected image; determining a target image acquisition device corresponding to the sensing result according to identification information in the sensing result information ; Obtain the sequence number in the induction result information, and fuse the induction result information obtained by a plurality of image acquisition devices according to the sequence number; wherein, the sequence number is used to indicate the order of the images corresponding to the induction result information, and the target image acquisition device is one of the plurality of image capture devices. The information fusion method, device, electronic device, and readable storage medium provided in this embodiment can identify the sensing result information corresponding to the images collected at the same time, so as to fuse the sensing result information at the same time, so that the information time The pokes are consistent, and the fusion results are more accurate.

Description of drawings

The accompanying drawings are used for better understanding of the present solution, and do not constitute a limitation to the present application. in:

FIG. 1 is an application scenario diagram shown in an exemplary embodiment of the present application;

FIG. 2 is a system architecture diagram shown in an exemplary embodiment of the application;

3 is a flowchart of an information fusion method according to an exemplary embodiment of the present application;

FIG. 4 is a flowchart of an information fusion method shown in another exemplary embodiment of the present application;

FIG. 5 is a structural diagram of an information fusion apparatus according to an exemplary embodiment of the present application;

FIG. 6 is a structural diagram of an information fusion apparatus according to another exemplary embodiment of the present application;

FIG. 7 is a structural diagram of an electronic device according to an exemplary embodiment of the present application.

Detailed ways

Exemplary embodiments of the present application are described below with reference to the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

FIG. 1 is an application scenario diagram shown in an exemplary embodiment of the present application.

As shown in FIG. 1 , a plurality of image acquisition devices may be set at the intersection to capture the road conditions of the road conditions from different angles. The image acquisition device is represented by an oval, and the arrow is used to indicate the shooting direction.

If an image acquisition device is set at the intersection, it is impossible to monitor the road conditions at the intersection in an all-round way. Therefore, a plurality of image acquisition devices may be set to capture road condition images, and then process the road condition images to identify the information contained therein. Finally, the information obtained by multiple image acquisition devices is fused to obtain a more comprehensive road condition at the intersection.

FIG. 2 is a system architecture diagram shown in an exemplary embodiment of the present application.

As shown in FIG. 2 , the image capture device 21 is used to capture road condition images, and the image capture device 21 can send the captured image to the corresponding processing device 22 . The processing device 22 can recognize the road condition image to obtain the sensing result. Each processing device 22 can send the sensing results to the fusion device 23, and the fusion device 23 fuses the received sensing results to obtain a complete road condition.

However, since the processing speeds of the processing devices 22 are not completely consistent, the time stamps of the sensing results received by the fusion device 23 at the same time may be inconsistent. For example, at the same time, one sensing result received by the fusion device 23 represents the road condition in the first second, and another sensing result received by the fusion device 23 represents the road condition in the second second. If these two sensing results are fused, the resulting fusion The result is inaccurate.

In order to solve this problem, in the method provided by the embodiment of the present application, the identification and the serial number of the image acquisition device are added to the sensing result, and the serial number is used to indicate the order of the corresponding road condition images. Therefore, according to the identification and serial number, the sensing results obtained by the images collected by different image acquisition devices at the same time, that is, the sensing results with the same time stamp, can be obtained, and then the obtained sensing results can be fused to obtain more accurate road conditions.

FIG. 3 is a flowchart of an information fusion method according to an exemplary embodiment of the present application.

As shown in Figure 3, the information fusion method provided by this embodiment includes:

Step 301: Receive sensing result information determined according to the collected image.

The method provided in this embodiment may be executed by an electronic device with computing capability, and the electronic device may be, for example, a fusion device as shown in FIG. 2 . The method provided in this embodiment may be set in an electronic device in the form of software, so that the electronic device can execute the method provided in this embodiment.

Specifically, in the method provided in this embodiment, the information fused is the induction result received by the electronic device. The sensing result is determined from the acquired image. The sensing result information may include the sensing result itself, for example, the sensing result may be obtained by recognizing the image, and the sensing result may include the results of specifically identifying the vehicle, person, roadblock, etc. included in the image.

Further, the image may be collected by an image collection device, and the content specifically included in the image is related to the position where the image collection device is set. For example, if the image acquisition device is set at an intersection, the captured image includes content related to road conditions. If the image acquisition device is set at the school gate, the captured image includes content related to the school gate.

In practical application, the image can be processed by an image acquisition device or other processing device, so as to sense the sensing result included in the image, and then send the information including the sensing result to the electronic device.

Among them, in the method provided in this embodiment, in order to obtain the information of an area more comprehensively, multiple image acquisition devices may be set up, and these devices can photograph the area from different angles, so as to achieve the purpose of all-round monitoring.

In this case, the sensing result information received by the electronic device is obtained through images collected by different image collection devices. For example, if four image acquisition devices are provided, the electronic device can receive sensing result information corresponding to the four image acquisition devices respectively.

Specifically, in order to accurately fuse these sensing results, the sensing result information includes identification information, which is used to determine the target image acquisition device corresponding to the sensing result. Specifically, it may be the source device identifier of the image used to determine the sensing result.

Further, a sequence number is also set in the sensing result information, which is used to identify the sequence of the images used to determine the sensing result.

Step 302: Determine the target image acquisition device corresponding to the sensing result according to the identification information in the sensing result information.

In practical application, after receiving the sensing result information, the electronic device can read the identification information in the sensing result information, so as to determine the target image acquisition device corresponding to the sensing result information. The target image acquisition device refers to a device for acquiring an image corresponding to the currently received sensing result information.

A plurality of image acquisition devices can be provided, each of which can acquire images, and the acquired images can be processed to obtain sensing result information, and the target acquisition device is one of the plurality of image acquisition devices.

The identification information in the sensing result information can record the source of the image used to generate the sensing result. For example, the sensing result can be obtained by processing the collected image p1. The target acquisition device corresponding to the sensing result information. Therefore, identification information may be added to the information corresponding to the sensing result, and the identification information may be, for example, an identification related to the device A.

Wherein, identification information may be added to the message header of the sensing result information. The sensing result information may include message header, sensing result, message tail, etc. The specific information structure can be set as required.

Specifically, the electronic device can read the message header of the sensing result information, and read the identification information therein.

Further, a storage area corresponding to a plurality of image acquisition devices may also be set for storing sensing result information. After the electronic device determines the target image acquisition device corresponding to the sensing result information, the sensing result information may be stored in a storage area corresponding to the target image acquisition device.

Step 303: Obtain the serial number in the sensing result information.

In practical application, the sequence number can also be set in the sensing result information. The sequence number is used to indicate the sequence of the images corresponding to the sensing result information. For example, a sequence number can be added to the message header of the sensing result information.

Wherein, the sequence of the images used to determine the sensing result information may be determined according to the sequence number. For example, if the sequence number is n, it indicates the sensing result determined according to the nth image collected.

Specifically, step 302 can determine the target image acquisition device corresponding to the sensing result information. Therefore, based on steps 302 and 303, it is possible to determine the image corresponding to a sensing result, which image acquisition device captures the first image, so as to be able to identify the image corresponding to the sensing result. Induction results are sorted.

Further, the execution sequence of step 302 and step 303 is not limited. Step 302 may be performed first, or step 303 may be performed first, or both steps may be performed simultaneously.

Step 304 , fuse the sensing result information obtained by the multiple image acquisition devices according to the serial number.

In practical application, through steps 302 and 303, the received sensing result information may include two labels, one is identification information and the other is serial number. Based on the two tags, it can be determined which image acquired by which image acquisition device determines the sensing result information.

Wherein, the sensing result information corresponding to each image acquisition device with the same serial number can be obtained. For example, among the sensing result information corresponding to the four image acquisition devices, the sensing result information of which the serial number is 5 can be acquired, and the fusion processing is performed on them.

Specifically, if the sequence numbers of the sensing result information are the same, it can be considered that the corresponding images have the same sequence. For example, it is the fifth image collected by multiple image collection devices respectively. It can be considered that the images acquired by these devices at the same time are in the same order. Therefore, the sensing result information obtained from these images is the sensing result of the photographed area at the same moment, and can be fused to obtain the condition of the photographed area at that moment, such as the road condition of a certain road condition.

Further, a storage area corresponding to each image acquisition device may also be set for storing sensing result information corresponding to the image acquisition device. In an optional implementation manner, the sensing result information in the storage area may be sorted according to the sequence number. If the sensing result information corresponding to the target serial number appears in the storage area corresponding to each image acquisition device, the sensing result information can be acquired and fused. The target sequence number may be the sequence number of the induction result information to be fused. For example, if the induction result information with sequence number 4 has been fused, the target sequence number may be 5.

Optionally, data of the same type in the sensing result information may be fused. Specifically, the same type of data in the sensing results can be fused.

The method provided in this embodiment is used to fuse information, and the method is executed by a device provided with the method provided in this embodiment, and the device is usually implemented in hardware and/or software.

The information fusion method provided by the embodiment of the present application includes: receiving the sensing result information determined according to the collected image; determining the target image acquisition device corresponding to the sensing result according to the identification information in the sensing result information; acquiring the serial number in the sensing result information, and The sensing result information obtained by the multiple image acquisition devices is fused according to the serial number; wherein, the serial number is used to indicate the order of the images corresponding to the sensing result information, and the target image acquisition device is one of the multiple image acquisition devices. The information fusion method provided in this embodiment can identify the sensing result information corresponding to the images collected at the same time, so as to fuse the sensing result information at the same time, so that the time stamps of the fused information are consistent and the fusion result is more accurate.

FIG. 4 is a flowchart of an information fusion method according to another exemplary embodiment of the present application.

As shown in Figure 4, the information fusion method provided by this embodiment includes:

Step 401 , simultaneously sending driving signals to a plurality of image acquisition devices, so that the image acquisition devices simultaneously acquire images in response to the received driving signals.

Wherein, in the method provided in this embodiment, the electronic device may be connected with the image acquisition apparatus. For example by wired or wireless connection.

The electronic device can send driving signals to multiple image acquisition devices at the same time. After the image acquisition device receives the driving signal, the shooting function can be turned on to acquire images. Since the electronic devices send driving signals at the same time, multiple image capturing devices can capture images synchronously, that is, capture the situation of the captured area at the same time.

Step 402: Receive sensing result information determined according to the collected image.

The image here refers to the image collected by the image collecting device mentioned in step 401 .

The specific principles and implementation manners of step 402 are similar to those of step 301, and are not repeated here.

Step 403: Determine the target image acquisition device corresponding to the sensing result according to the identification information in the sensing result information.

The specific principles and implementation manners of step 403 are similar to those of step 302, and are not repeated here.

Step 404: Store the sensing result information in a storage list corresponding to the target image acquisition device.

Wherein, a storage list corresponding to each image acquisition device may be preset. For example, if there are 4 image capture devices in a photographed area, then storage lists corresponding to the 4 image capture devices can be set respectively.

Specifically, after the corresponding target collection device is determined according to the sensing result information, the sensing result information may be stored in a storage list corresponding to the target collection device. For example, if the target collection device corresponding to the sensing result information is device A, the information may be stored in the storage list corresponding to A.

Step 405: Obtain the serial number in the sensing result information.

The specific principles and implementation manners of step 405 are similar to those of step 303, and are not repeated here.

Optionally, the induction result information in the storage list may also be sorted according to the sequence number in the induction result information. For example, the sensing result information is stored in ascending order of the serial number.

Step 406: Acquire sensing result information corresponding to multiple image acquisition devices with the same serial number, and perform fusion processing on the sensing results.

Further, the serial number in the sensing result information can be used to identify the image sequence corresponding to the sensing result information. If the sequence numbers of the sensing result information corresponding to the multiple image acquisition devices are the same, it can be considered that the sequence of the images corresponding to the sensing result information is the same, and further, it can be considered that the sensing result information is determined according to the images collected at the same time. Therefore, sensing result information corresponding to multiple image acquisition devices with the same serial number can be acquired and fused.

In practical application, the frequency of photographing the area to be photographed by the image acquisition device is consistent. For example, images are taken at an interval of 1 s, or the image capture device may capture images by means of video recording. At this time, the number of frames of images captured by multiple image capture devices in the same time period may be the same.

Wherein, if the times at which the images are collected by the multiple image acquisition devices are the same, the sensing result information obtained according to these images can reflect the state of the photographed area at that time. In the method provided in this embodiment, since the processing time of different images may be different, it is impossible to determine at which time the state of the photographed area is reflected by the sensing result information. In the method provided by this embodiment, by setting the serial number, the time information of each sensing result information can be represented by the serial number.

Specifically, the acquired sensing result information corresponding to the plurality of image acquisition devices and having the same serial number may be fused and processed. It can be considered that the acquired sensing result information is the sensing result information obtained by the images collected at the same time, which can be fused to obtain a comprehensive state of the photographed area at that time.

The acquired sensing result information is received within a preset time. The preset time can be set according to requirements, for example, it can be 5s. It can detect whether the induction result information corresponding to each image acquisition device with the same serial number has been received within a preset time period. If so, the induction result information can be fused. If not, the received induction results information is fused. Specifically, it can also be determined whether the sensing result information corresponding to each image acquisition device and having the same serial number is received within a preset time.

In some cases, there may be an error in processing the image, or the sensing result information of the image cannot be obtained for a long time. In this case, the sensing result information corresponding to multiple image acquisition devices and with the same serial number cannot be received in time.

Therefore, it can also be determined whether the sensing result information corresponding to each image acquisition device and having the same serial number can be received within a preset time. For example, if there are 4 image acquisition devices in total, it can be determined whether the sensing result information corresponding to the 4 image acquisition devices with serial number 5 is received within a preset time.

For example, a timer can be started, and if the timing time is less than or equal to the preset time, sensing result information of a certain serial number corresponding to each image acquisition device is received, and the sensing result information can be directly fused.

If the timing time is less than the preset time, and the sensing result information of a certain serial number corresponding to each image acquisition device is not received, wait until all sensing result information is received or the timing time is greater than or equal to the preset time .

Assuming that the timing time is greater than or equal to the preset time, and the induction result information of a certain serial number corresponding to multiple image acquisition devices has not been received, the induction result information with the same serial number that has been received can be obtained, and the induction result information can be processed. Fusion processing.

If all sensing result information corresponding to the same sequence number has not been received for a long time, fusion processing may be performed on the received sensing result information. For example, if there are 4 image acquisition devices in total, when the preset time is reached, only 3 sensing result information with serial number 5 is received, then only the 3 sensing result information can be fused, and the other sensing result can be discarded. information.

Optionally, timing may be started when it is decided to fuse the induction result information of a certain sequence number. For example, if the induction result information with the sequence number 6 needs to be fused at present, the timing can be started, and the induction result information with the sequence number 6 received within the preset time can be fused.

The method provided in this embodiment can avoid the information fusion taking too long or the fusion failure.

FIG. 5 is a structural diagram of an information fusion apparatus according to an exemplary embodiment of the present application.

As shown in FIG. 5 , the information fusion apparatus provided by this embodiment includes:

The receiving module 51 is used for receiving the sensing result information determined according to the collected image;

A device determining module 52, configured to determine a target image acquisition device corresponding to the sensing result according to the identification information in the sensing result information;

A fusion module 53, configured to acquire the sequence number in the sensing result information, and fuse the sensing result information obtained by multiple image acquisition devices according to the sequence number;

Wherein, the serial number is used to indicate the order of the images corresponding to the sensing result information, and the target image acquisition device is one of the plurality of image acquisition devices.

The information fusion device provided in this embodiment includes a receiving module for receiving sensing result information determined according to the collected image; a device determining module for determining a target image acquisition device corresponding to the sensing result according to the identification information in the sensing result information; The fusion module is used to obtain the serial number in the sensing result information, and fuse the sensing result information obtained by multiple image acquisition devices according to the serial number; wherein, the serial number is used to indicate the order of the images corresponding to the sensing result information, and the target image is collected The device is one of a plurality of image acquisition devices. The information fusion device provided in this embodiment can identify the sensing result information corresponding to the images collected at the same time, so as to fuse the sensing result information at the same time, so that the time stamps of the fused information are consistent and the fusion result is more accurate.

The specific principles and implementation manners of the information fusion apparatus provided in this embodiment are similar to the embodiment shown in FIG. 3 , and details are not described herein again.

FIG. 6 is a structural diagram of an information fusion apparatus according to another exemplary embodiment of the present application.

As shown in FIG. 6 , the information fusion apparatus provided in this embodiment further includes a storage module 54 for:

The sensing result information is stored in a storage list corresponding to the target image acquisition device.

Optionally, it also includes a drive module 55 for:

The driving signals are simultaneously sent to a plurality of image acquisition devices, so that the image acquisition devices simultaneously acquire images in response to the received driving signals.

Optionally, the fusion module 53 includes:

a synchronization unit 531, configured to acquire sensing result information corresponding to a plurality of the image acquisition devices and having the same serial number;

The fusion unit 532 is configured to perform fusion processing on the sensing result information.

Optionally, the acquired sensing result information is received within a preset time.

According to the embodiments of the present application, the present application further provides an electronic device and a readable storage medium.

As shown in FIG. 7 , it is a block diagram of an electronic device for information fusion according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the application described and/or claimed herein.

As shown in FIG. 7 , the electronic device includes: one or more processors 701 , a memory 702 , and interfaces for connecting various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or otherwise as desired. The processor may process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In other embodiments, multiple processors and/or multiple buses may be used with multiple memories and multiple memories, if desired. Likewise, multiple electronic devices may be connected, each providing some of the necessary operations (eg, as a server array, a group of blade servers, or a multiprocessor system). A processor 701 is taken as an example in FIG. 7 .

The memory 702 is the non-transitory computer-readable storage medium provided by the present application. Wherein, the memory stores instructions executable by at least one processor, so that the at least one processor executes the information fusion method provided by the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions, and the computer instructions are used to cause the computer to execute the information fusion method provided by the present application.

As a non-transitory computer-readable storage medium, the memory 702 can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the information fusion method in the embodiments of the present application (for example, appendix). The receiving module 51, the device determining module 52 and the fusion module 53 shown in FIG. 5). The processor 701 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions and modules stored in the memory 702, ie, implements the information fusion method in the above method embodiments.

The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function; the storage data area may store data created according to the use of the information fusion electronic device, and the like. Additionally, memory 702 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 702 may optionally include memory located remotely from the processor 701, and these remote memories may be connected to the information fusion electronics via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The information fusion device may further include: an input device 703 and an output device 704 . The processor 701 , the memory 702 , the input device 703 and the output device 704 may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 7 .

The input device 703 can receive input numerical or character information, and generate key signal input related to user settings and function control of the information fusion electronic device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, an or Multiple input devices such as mouse buttons, trackballs, joysticks, etc. Output devices 704 may include display devices, auxiliary lighting devices (eg, LEDs), haptic feedback devices (eg, vibration motors), and the like. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some implementations, the display device may be a touch screen.

Various implementations of the systems and techniques described herein can be implemented in digital electronic circuitry, integrated circuit systems, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that The processor, which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.

These computational programs (also referred to as programs, software, software applications, or codes) include machine instructions for programmable processors, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages calculation program. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or apparatus for providing machine instructions and/or data to a programmable processor ( For example, magnetic disks, optical disks, memories, programmable logic devices (PLDs), including machine-readable media that receive machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide interaction with a user, the systems and techniques described herein may be implemented on a computer having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, a mouse or trackball) through which a user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.

The systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user's computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

A computer system can include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

This embodiment also provides a computer program, including program code, when the computer runs the computer program, the program code executes any one of the information fusion methods described above.

It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present application can be performed in parallel, sequentially or in different orders, and as long as the desired results of the technical solutions disclosed in the present application can be achieved, no limitation is imposed herein.

The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (12)

1. an information fusion method, is characterized in that, comprises: Receive the sensing result information determined according to the collected image; Determine the target image acquisition device corresponding to the sensing result according to the identification information in the sensing result information; acquiring the sequence number in the sensing result information, and merging the sensing result information obtained by multiple image acquisition devices according to the sequence number; Wherein, the serial number is used to indicate the order of the images corresponding to the sensing result information, and the target image acquisition device is one of the plurality of image acquisition devices. 2. The method of claim 1, further comprising: The sensing result information is stored in a storage list corresponding to the target image acquisition device. 3. The method of claim 1, further comprising: The driving signals are simultaneously sent to the plurality of image capture devices, so that the plurality of image capture devices simultaneously capture images in response to the received driving signals. 4 . The method according to claim 1 , wherein the fusion of sensing result information obtained by multiple image acquisition devices according to the serial number comprises: 5 . acquiring sensing result information corresponding to the plurality of image acquisition devices and having the same serial number; Fusion processing is performed on the sensing result information. 5. The method according to claim 4, wherein the acquired sensing result information is received within a preset time. 6. An information fusion device, comprising: a receiving module for receiving the sensing result information determined according to the collected image; a device determining module, configured to determine a target image acquisition device corresponding to the sensing result according to the identification information in the sensing result information; a fusion module, configured to acquire the sequence number in the sensing result information, and fuse the sensing result information obtained by the multiple image acquisition devices according to the sequence number; Wherein, the serial number is used to indicate the order of the images corresponding to the sensing result information, and the target image acquisition device is one of the plurality of image acquisition devices. 7. The device according to claim 6, further comprising a storage module for: The sensing result information is stored in a storage list corresponding to the target image acquisition device. 8. The device according to claim 6, further comprising a drive module for: The driving signals are sent to a plurality of image acquisition devices at the same time, so that the image acquisition devices simultaneously acquire images in response to the received driving signals. 9. The device according to claim 6, wherein the fusion module comprises: a synchronization unit, configured to acquire sensing result information corresponding to a plurality of the image acquisition devices and having the same serial number; A fusion unit, configured to perform fusion processing on the sensing result information. 10 . The device according to claim 9 , wherein the acquired sensing result information is received within a preset time. 11 . 11. An electronic device, characterized in that, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the execution of any of claims 1-5 Methods. 12. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to perform the method of any one of claims 1-5.

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