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

fYear

2008

fDate

20-22 Aug. 2008

Firstpage

261

Lastpage

266

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/MFI.2008.4648075

Filename

4648075