TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED (Shenzhen, CN)

A data processing method is executed on a terminal. The method includes: generating an additional signal frame in response to the first original signal frame of a primary data collector when a first frame rate of the data collector on the terminal is lower than a second frame of a second data collector, and determining an input date stamp of the supplementary signal frame in accordance to the second frame rate inputting the supplementary signal frame into the first queue for input of the initial data collector when a current date is at the time of the input stamp of the signal frame supplementary to it and obtaining a second original signal frame that is currently input into a second input queue, and is from the second data collector; and performing signal fusion on the supplementary signal frame in the first queue of input as well as another original signal frame within the second queue for input.

A variety of sensors have been created in response to technology’s rapid technological advancements. These sensors can be integrated into various mobile devices (for instance intelligent robots, smart robots, virtual reality, and Augmented Reality devices) to offer navigation and positioning functions. For example, in a process of robot positioning and navigation, location information of the robotmay be estimated by combining the signals that are collected by the sensors like the gyroscope and the radar.

There are various kinds of sensors emit these distinct sense signals based on frames (for instance an example, a frame rate at which an image sensor outputs a sense signal is 30 Hz; a frame rate at which an inertial sensor outputs a sensesignal is usually higher than 100 Hz, for example 500 Hz). The sensing signals, which are images and inertial signals, are able to be fed to the signal processor for fusion.

A sensor’s frame rate output with high frame rates is often utilized to create a high frame rate. The output framerate of an image sensor having low frame rate is less than that of an inertialsensor with which has a high frame rate. This means that there could be several inertial sensor signals from an inertial sensor of high frame rates within the input time length. To perform signal fusion within the input interval time length, an output frame rate sensing signals that have a low framerate are not accessible. This means that it’s difficult to find an accurate estimator, which can lead to the location information being significantly different from its true value.

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