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Finding timestamp offsets for a multi-sensor system using sensor observations / Raphael Voges in Photogrammetric Engineering & Remote Sensing, PERS, vol 84 n° 6 (juin 2018)  

Public [article]  inPhotogrammetric Engineering & Remote Sensing, PERS > vol 84 n° 6 (juin 2018) . - pp 357 - 366 Titre : Finding timestamp offsets for a multi-sensor system using sensor observations Type de document : Article/Communication Auteurs : Raphael Voges, Auteur ; Christian S. Wieghardt, Auteur ; Bernardo Wagner, Auteur Année de publication : 2018 Article en page(s) : pp 357 - 366 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s) [Termes IGN] caméra numérique [Termes IGN] estampille temporelle [Termes IGN] Lidar [Termes IGN] synchronisation [Termes IGN] système de numérisation mobile Résumé : (auteur) 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. Numéro de notice : A2018-229 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.14358/PERS.84.6.357 Date de publication en ligne : 01/06/2018 En ligne : https://doi.org/10.14358/PERS.84.6.357 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90170 [article]

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