Finding Timestamp Offsets for a Multi-Sensor System Using Sensor Observations
Multi-sensor systems are widely used for robotics applications. While additional sensors can increase the accuracy and robustness of the solution, it is inevitable to synchronize them in order to rely on the results. For our multi-sensor system consisting of an actuated laser scanner, its motor and a camera, we assume that the timestamps are only delayed by a constant offset. We propose two different approaches to calculate timestamp offsets from laser scanner to motor, one of which is additionally capable of determining the timestamp offset between laser scanner and camera. Both approaches use parts of a SLAM algorithm but apply different criteria to find an appropriate solution. Our experiments show that we are able to determine timestamp offsets with a reasonable accuracy. Furthermore, our experiments exhibit the significance of a proper synchronization for a multi-sensor system.
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Document Type: Review Article
Publication date: 01 June 2018
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- The official journal of the American Society for Photogrammetry and Remote Sensing - the Imaging and Geospatial Information Society (ASPRS). This highly respected publication covers all facets of photogrammetry and remote sensing methods and technologies.
Founded in 1934, the American Society for Photogrammetry and Remote Sensing (ASPRS) is a scientific association serving over 7,000 professional members around the world. Our mission is to advance knowledge and improve understanding of mapping sciences to promote the responsible applications of photogrammetry, remote sensing, geographic information systems (GIS), and supporting technologies.
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