CN111811527A - Time synchronization method and device of map data and related equipment - Google Patents
Time synchronization method and device of map data and related equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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Abstract
The application relates to a time synchronization method and device of map data and related equipment. The method comprises the following steps: acquiring the shooting time of each frame of video image, wherein the shooting time is the local time of the vehicle-mounted camera equipment when each frame of video image is shot; determining an error value between the local time of the vehicle-mounted camera equipment and the positioning time of the positioning data; and synchronizing each frame of video image with positioning data by using the error value. The scheme provided by the application can accurately synchronize the video image and the positioning data, and is convenient for making more accurate live-action map data, so that the navigation is more accurate.
Description
Technical Field
The present application relates to the field of navigation technologies, and in particular, to a method and an apparatus for time synchronization of map data, and a related device.
Background
In the related art, in scenes such as intelligent driving, high-precision live-action map data is required, and in the process of making the live-action map data, video images are generally recorded by vehicle-mounted camera equipment (such as a vehicle-mounted recorder, a vehicle-mounted camera and the like) and combined with positioning data (such as GPS data) to form the live-action map data.
When the live-action map data is collected, the positioning information needs to be searched according to the local time of the vehicle-mounted camera device, but the local time of the vehicle-mounted camera device is different from the positioning time of the positioning data, so that the collection precision is influenced, and the manufactured live-action map data is poor in precision. The drop in accuracy due to the difference in time is more pronounced when the vehicle is traveling at higher speeds.
Disclosure of Invention
The method, the device and the related equipment for time synchronization of the map data can accurately synchronize the video image and the positioning data, and are convenient for making more accurate live-action map data.
A first aspect of the present application provides a time synchronization method for map data, the method including:
acquiring the shooting time of each frame of video image, wherein the shooting time is the local time of the vehicle-mounted camera equipment when each frame of video image is shot;
determining an error value between the local time of the vehicle-mounted camera equipment and the positioning time of the positioning data;
and synchronizing each frame of video image with positioning data by using the error value.
A second aspect of the present application provides a time synchronization apparatus for map data, the apparatus including:
the acquisition module is used for acquiring the shooting time of each frame of video image, wherein the shooting time is the local time of the vehicle-mounted camera equipment when each frame of video image is shot;
the determining module is used for determining an error value between the local time of the vehicle-mounted camera equipment and the positioning time of the positioning data;
and the synchronization module is used for synchronizing the video image with the positioning data by utilizing the error value.
A third aspect of the present application provides an electronic device comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a vehicle comprising an electronic apparatus as described above.
A fifth aspect of the application provides a non-transitory machine-readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform a method as described above.
The technical scheme provided by the application can comprise the following beneficial effects: according to the time synchronization method, the time synchronization device and the related equipment for the map data, the shooting time recorded by the vehicle-mounted camera when shooting each frame of video image and the error value between the local time of the vehicle-mounted camera and the positioning time of the positioning data are obtained, and as the shooting time is recorded in each frame of video image, the error between the shooting time and the local time is extremely small, the shooting time can be considered as the local time, so that the video image and the positioning data can be accurately synchronized by using the error value, and more accurate live-action map data can be conveniently manufactured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a flowchart illustrating a time synchronization method for map data according to an embodiment of the present application;
fig. 2 is another schematic flow chart of a time synchronization method of map data according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a time synchronization apparatus for map data according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
When the live-action map data is collected and manufactured, the shooting time of the video image and the positioning time of the positioning data need to be aligned to synchronize the video image and the positioning data, but the live-action map data has deviation due to the following time errors, and the precision of the map data is poor:
1. the local time of the vehicle-mounted camera equipment is inaccurate, and a certain error often exists between the local time and the positioning time of a positioning system such as a GPS (global positioning system);
2. in the related art, a video is generally divided by taking 1 second as a unit time, and a local time is attached to the video per unit time as a shooting time (for example, attached to a video file name), so that the shooting time can only be accurate to seconds;
3. the vehicle-mounted camera device needs a certain time to respond when processing data, and other errors are caused when the video is divided, so that other errors exist between the shooting time and the local time.
Based on the above reasons, the errors of the shooting time and the positioning time in the related art are large, so that the accuracy of the data of the real scene map manufactured is poor.
In view of the above problems, embodiments of the present application provide a time synchronization method for map data, which can accurately determine an error between a shooting time of a video image and a positioning time of positioning data, and further accurately synchronize the video image and the positioning data.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a time synchronization method for map data according to an embodiment of the present application.
Referring to fig. 1, the method includes:
s101, acquiring the shooting time of each frame of video image;
the shooting time of each frame of video image is the local time of the vehicle-mounted camera equipment when each frame of video image is shot;
s102, determining an error value between the local time of the vehicle-mounted camera equipment and the positioning time of the positioning data;
in this embodiment, the positioning data may be positioning data of positioning systems such as a GPS (global positioning system), a beidou satellite positioning system, and a galileo satellite positioning system;
s103, synchronizing each frame of video image with positioning data by using the error value.
The time synchronization method for map data provided by this embodiment obtains the shooting time recorded by the vehicle-mounted camera device when shooting each frame of video image and the error value between the local time of the vehicle-mounted camera device and the positioning time of the positioning data.
Fig. 2 is another schematic flow chart of a method for time synchronization of map data according to an embodiment of the present application.
Referring to fig. 2, the method includes:
s201, shooting video images, and recording the local time of the vehicle-mounted camera equipment when shooting the current frame image in each frame of video image;
preferably, the local time when each frame of video image is captured may be recorded as a watermark in each frame of video image;
preferably, the shooting time recorded in each frame of video image is accurate to at least milliseconds;
for example, the vehicle-mounted camera device may be a vehicle data recorder, a vehicle-mounted camera, or a camera device dedicated to live-action map acquisition;
s202, acquiring the shooting time of each frame of video image;
specifically, it may be to read the shooting time recorded in the watermark of each frame of video image;
since the shooting time accurate to at least milliseconds is recorded in the shooting of each frame of video image, the shooting time is higher in precision than that of the shooting time accurate to seconds in the prior art;
s203, determining an error value between the local time of the vehicle-mounted camera device and the positioning time of the positioning data;
in this embodiment, the positioning data may be positioning data of positioning systems such as a GPS (global positioning system), a beidou satellite positioning system, and a galileo satellite positioning system;
preferably, S203 may specifically include:
determining the local time of the vehicle-mounted camera equipment while acquiring the positioning data; calculating an error value between the local time of the vehicle-mounted camera equipment and the positioning time contained in the positioning data;
positioning systems such as a GPS generally use an atomic clock to determine time, so that the positioning data includes accurate positioning time, and when the positioning data is acquired, the local time and the positioning time can be compared to calculate an error value;
s204, synchronizing the video image of each frame with the positioning data by using the error value.
Preferably, S204 may include:
correcting the shooting time contained in each frame of video image by using the error value;
and synchronizing each corrected frame of video image with the positioning data.
In the time synchronization method for map data provided by this embodiment, when a video image is shot, the shooting time of each frame is recorded in the video image, so that when synchronization is performed, the shooting time recorded in each frame of the video image can be obtained, the error between the shooting time and the local time is extremely small, and the shooting time can be considered as the local time; in addition, an error value between the local time of the vehicle-mounted camera device and the positioning time of the positioning data is acquired, so that the video image and the positioning data can be accurately synchronized by using the error value.
Corresponding to the embodiment of the application function implementation method, the application also provides a time synchronization device of the map data, the electronic equipment and a corresponding embodiment.
Fig. 3 is a schematic structural diagram of a time synchronization device for map data according to an embodiment of the present application.
Referring to fig. 3, the apparatus 300 includes:
an obtaining module 310, configured to obtain a shooting time of each frame of video image, where the shooting time is a local time of the vehicle-mounted camera device when each frame of video image is shot;
a determining module 320, configured to determine an error value between a local time of the vehicle-mounted image capturing apparatus and a positioning time of the positioning data;
the synchronization module 330 is configured to synchronize the video image with the positioning data by using the error value.
Further, the apparatus 300 further comprises: and the shooting module is used for shooting the video images and recording the local time of the vehicle-mounted camera equipment when the current frame image is shot in each frame of video image.
For example, the shooting module may include a camera for shooting video images, and preferably, when the video images are shot, the local time when each frame of video images are shot may be recorded as a watermark in each frame of video images.
Preferably, the determining module 320 may include: the determining submodule is used for determining the local time of the vehicle-mounted camera equipment while acquiring the positioning data; and the calculating submodule is used for calculating an error value between the local time of the vehicle-mounted camera equipment and the positioning time contained in the positioning data.
Preferably, the synchronization module 330 includes: the time correction submodule is used for correcting the shooting time contained in each frame of video image by using the error value;
and the synchronization submodule is used for synchronizing each frame of video image after being corrected with the positioning data.
The time synchronizer for map data provided by this embodiment acquires the shooting time recorded by the vehicle-mounted camera device when shooting each frame of video image and the error value between the local time of the vehicle-mounted camera device and the positioning data of the positioning data, and since the shooting time is recorded in each frame of video image, the error between the shooting time and the local time is very small, and the shooting time can be considered as the local time, so that the video image and the positioning data can be accurately synchronized by using the error value.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 4 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Referring to fig. 4, an electronic device 400 includes a memory 410 and a processor 420.
The Processor 420 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 410 may include various types of storage units, such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions that are needed by the processor 1020 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 410 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 410 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disc, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 410 has stored thereon executable code that, when processed by the processor 420, may cause the processor 420 to perform some or all of the methods described above.
The embodiment of the present application further provides a vehicle including the electronic device 400 as described above, and the vehicle may be an automobile, a motorcycle, or the like, without limitation.
The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required in the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the applications disclosed herein may be implemented as electronic hardware, computer software, or combinations of both.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (11)
1. A method for time synchronization of map data, the method comprising:
acquiring the shooting time of each frame of video image, wherein the shooting time is the local time of the vehicle-mounted camera equipment when each frame of video image is shot;
determining an error value between the local time of the vehicle-mounted camera equipment and the positioning time of the positioning data;
synchronizing each frame of video image with the positioning data using the error value;
the determining an error value between the local time of the vehicle-mounted camera device and the positioning time of the positioning data includes: determining the local time of the vehicle-mounted camera equipment while acquiring the positioning data; and calculating an error value between the local time of the vehicle-mounted camera equipment and the positioning time contained in the positioning data.
2. The method of claim 1, wherein prior to the capturing time of each frame of video image, the method further comprises:
and shooting video images, and recording the local time of the vehicle-mounted camera equipment when shooting the current frame video image in each frame video image.
3. The method of claim 2, wherein recording, in each frame of video image, a local time of the in-vehicle camera device when capturing the current frame of video image comprises:
the local time when each frame of video image is captured is recorded as a watermark in each frame of video image.
4. The method of claim 1, wherein the synchronizing each frame of the video image with the positioning data using the error value comprises: correcting the shooting time contained in each frame of video image by using the error value;
and synchronizing each corrected frame of video image with the positioning data.
5. An apparatus for time synchronization of map data, the apparatus comprising:
the acquisition module is used for acquiring the shooting time of each frame of video image, wherein the shooting time is the local time of the vehicle-mounted camera equipment when each frame of video image is shot;
the determining module is used for determining an error value between the local time of the vehicle-mounted camera equipment and the positioning time of the positioning data;
the synchronization module is used for synchronizing the video image with positioning data by using the error value;
the determining module comprises: the determining submodule is used for determining the local time of the vehicle-mounted camera equipment while acquiring the positioning data; and the calculating submodule is used for calculating an error value between the local time of the vehicle-mounted camera equipment and the positioning time contained in the positioning data.
6. The apparatus of claim 5, further comprising: and the shooting module is used for shooting the video images and recording the local time of the vehicle-mounted camera equipment when shooting the current frame video image in each frame video image.
7. The apparatus of claim 6, wherein the capture module is specifically configured to record a local time when each frame of the video image was captured as a watermark in each frame of the video image.
8. The apparatus of claim 5, wherein the synchronization module comprises: the time correction submodule is used for correcting the shooting time contained in each frame of video image by using the error value;
and the synchronization submodule is used for synchronizing each frame of video image after being corrected with the positioning data.
9. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any one of claims 1-4.
10. A vehicle characterized in that it comprises an electronic device according to claim 9.
11. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any one of claims 1-4.
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| CN202010957090.9A CN111811527A (en) | 2020-09-12 | 2020-09-12 | Time synchronization method and device of map data and related equipment |
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| CN202010957090.9A CN111811527A (en) | 2020-09-12 | 2020-09-12 | Time synchronization method and device of map data and related equipment |
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