Time Error Correction For Laser Range Scanner Data

Most signal and fusion processings consider synchronous data (acquired at the same time) and neglect small time differences. In dynamic situations, the time delay between two supposed synchronous data can imply errors. These errors can be a drawback in some applications, where data are required at a same exact time. This paper proposes to correct the error produced by timestamping error in sensor data acquisition. An example of such data is shown for laser range scanners that acquire data at a fixed frequency. All values are estimated at a same specified time. Experimentations have been carried out, with a laser range scanner (SICK LMS 291) which scans 180 degrees horizontal rows at frequency of 75 Hz. It has been placed at the back of an instrumented car, and an error correction up to 40 cm has been observed