Title :
Interval-based time synchronisation of sensor data in a mobile robot
Author :
Zaman, Munir ; Illingworth, John
Author_Institution :
Sch. of Electron. & Phys. Sci., Surrey Univ., Guildford, UK
Abstract :
This paper addresses the problem of time synchronisation of odometry and vision data in a mobile robot. The overall aim is to improve robot localisation by combining vision with odometry data without restricting the motion of the robot. We propose a novel method of synchronising the times of the odometry and image data using an interval paradigm, from the discrete timestamped data sets alone. The interval paradigm provides guaranteed bounds on the absolute time difference between the two data sets. A significant enhancement of the proposed method is also proposed. Simulation of the proposed method is described and the method has been successfully applied to the time synchronisation of odometry and image data in a mobile robot.
Keywords :
distance measurement; mobile robots; robot vision; sensor fusion; synchronisation; absolute time difference; discrete timestamped data sets; guaranteed bounds; interval-based time synchronisation; mobile robot; odometry; robot localisation; sensor data; vision data; Cameras; Clocks; Error correction; Event detection; Mobile robots; Robot sensing systems; Robot vision systems; Solids; Synchronization; Wheels;
Conference_Titel :
Intelligent Sensors, Sensor Networks and Information Processing Conference, 2004. Proceedings of the 2004
Print_ISBN :
0-7803-8894-1
DOI :
10.1109/ISSNIP.2004.1417505