Title :
Time synchronization between SOKUIKI sensor and host computer using timestamps
Author :
Carballo, Alexander ; Hara, Yoshitaka ; Kawata, Hirohiko ; Yoshida, Tomoaki ; Ohya, Akihisa ; Yuta, Shin´ichi
Author_Institution :
Intell. Robot Lab., Univ. of Tsukuba, Tsukuba
Abstract :
Time is crucial in applications such as sensor data fusion, autonomous mobility and SLAM. However clocks at end systems are rarely synchronized and often running at different speeds. Lack of synchronization therefore reduces the accuracy of sensor readings. The SOKUIKI scanning laser range finder allows acquiring time values by timestamping range readings. Our work consists in a method for time synchronization, with clock skew estimation, between a laser range finder sensor and a host computer.
Keywords :
laser ranging; sensor fusion; synchronisation; SLAM; SOKUIKI scanning laser range finder; SOKUIKI sensor; autonomous mobility; clock skew estimation; sensor data fusion; time synchronization; Application software; Clocks; Frequency estimation; Frequency synchronization; Intelligent sensors; Navigation; Robot control; Robot sensing systems; Sensor fusion; Sensor systems and applications;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 2008. MFI 2008. IEEE International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-2143-5
Electronic_ISBN :
978-1-4244-2144-2
DOI :
10.1109/MFI.2008.4648075
