A Hybrid Timestamping Approach for Multi-Sensor Perception Systems

Josef Steinbaeck, Christian Steger, Eugen Brenner, Norbert Druml

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


Synchronized and precisely timestamped data from perception sensors is highly advantageous for the low-level fusion of multiple sensor data. Many open-Available, low-cost perception sensors do neither provide hardware support for precise clock synchronization, nor provide timestamps with their measurement data. In this work, we present an approach to enable synchronization and accurate timestamping of hardware-Triggerable sensors in multi-sensor perception systems.We utilize a hybrid timestamping approach, taking into account the timestamp of a hardware trigger and the software timestamp. The presented timestamping approach utilizes the trigger time to assign precise timestamps to the data streams of the perception sensors. Precise timestamps are mandatory in order to achieve a high perception performance in dynamic applications which utilize low-level data streams.Additionally, we present an implementation of the approach on a multi-sensor perception platform, archiving a timestamp precision in the range of 2 ms. An existing Robot Operating System (ROS) architecture of the platform is extended to assign hybrid timestamps to the data streams. Additionally, we present a pedestrian detection implementation which fuses the timestamped data into a representation.

Original languageEnglish
Title of host publicationProceedings - Euromicro Conference on Digital System Design, DSD 2020
EditorsAndrej Trost, Andrej Zemva, Amund Skavhaug
PublisherInstitute of Electrical and Electronics Engineers
Number of pages8
ISBN (Electronic)9781728195353
Publication statusPublished - Aug 2020
Event23rd Euromicro Conference on Digital System Design, DSD 2020 - Kranj, Slovenia
Duration: 26 Aug 202028 Aug 2020

Publication series

NameProceedings - Euromicro Conference on Digital System Design, DSD 2020


Conference23rd Euromicro Conference on Digital System Design, DSD 2020


  • radar
  • robotics
  • ROS
  • sensor fusion
  • time-of-flight

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering


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