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The Matter of Time -- A General and Efficient System for Precise Sensor Synchronization in Robotic Computing

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arxiv 2103.16045 v1 pith:I645E3M7 submitted 2021-03-30 cs.RO cs.AR

Shaoshan Liu , Bo Yu , Yahui Liu , Kunai Zhang , Yisong Qiao , Thomas Yuang Li , Jie Tang , Yuhao Zhu This is my paper · ORCID
classification cs.ROcs.AR
keywords synchronizationroboticsystemtimecomputingchallengesgeneralhardware
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Time synchronization is a critical task in robotic computing such as autonomous driving. In the past few years, as we developed advanced robotic applications, our synchronization system has evolved as well. In this paper, we first introduce the time synchronization problem and explain the challenges of time synchronization, especially in robotic workloads. Summarizing these challenges, we then present a general hardware synchronization system for robotic computing, which delivers high synchronization accuracy while maintaining low energy and resource consumption. The proposed hardware synchronization system is a key building block in our future robotic products.

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  1. Robust sensor fusion against on-vehicle sensor staleness

    cs.CV 2025-06 conditional novelty 5.0 of 10

    Adding per-point timestamp offsets and simulated staleness data augmentation makes a multi-sensor fusion detector robust to 100ms camera staleness without hurting synchronized performance.

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