Details
| Originalsprache | Englisch |
|---|---|
| Seiten (von - bis) | 357-366 |
| Seitenumfang | 10 |
| Fachzeitschrift | Photogrammetric Engineering Remote Sensing |
| Jahrgang | 84 |
| Ausgabenummer | 6 |
| Publikationsstatus | Veröffentlicht - Juni 2018 |
Abstract
ASJC Scopus Sachgebiete
- Erdkunde und Planetologie (insg.)
- Computer in den Geowissenschaften
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in: Photogrammetric Engineering Remote Sensing, Jahrgang 84, Nr. 6, 06.2018, S. 357-366.
Publikation: Beitrag in Fachzeitschrift › Artikel › Forschung › Peer-Review
}
TY - JOUR
T1 - Finding Timestamp Offsets for a Multi-Sensor System Using Sensor Observations
AU - Voges, Raphael
AU - Wieghardt, Christian S.
AU - Wagner, Bernardo
N1 - Funding information: This study was partially funded by a grant awarded by the Ministry of Health of the Autonomous City of Buenos Aires.
PY - 2018/6
Y1 - 2018/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85049897088&partnerID=8YFLogxK
U2 - 10.14358/pers.84.6.357
DO - 10.14358/pers.84.6.357
M3 - Article
VL - 84
SP - 357
EP - 366
JO - Photogrammetric Engineering Remote Sensing
JF - Photogrammetric Engineering Remote Sensing
IS - 6
ER -