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arXiv · 2507.05717

Simultaneous Triggering and Synchronization of Sensors and Onboard Computers

Morten Nissov·Nikhil Khedekar·Kostas Alexis
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Abstract

High fidelity estimation algorithms for robotics require accurate data. However, timestamping of sensor data is a key issue that rarely receives the attention it deserves. Inaccurate timestamping can be compensated for in post-processing but is imperative for online estimation. Simultaneously, even online mitigation of timing issues can be achieved through a relaxation of the tuning parameters from their otherwise more performative optimal values, but at a detriment to performance. To address the need for real-time, low-cost timestamping, a versatile system which utilizes readily-available components and established methods for synchronization is introduced. The synchronization and triggering (of both high- and low-rate sensors) capabilities of the system are demonstrated.

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Morten Nissov, Nikhil Khedekar, Kostas Alexis. 2025-07-08. Simultaneous Triggering and Synchronization of Sensors and Onboard Computers. https://arxiv.org/abs/2507.05717

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