Time synchronization of sensor data

A method for time synchronization of sensor data in a multi-sensor environment using a master time, the method comprising:

• initializing, by a component that derives the master time, the master time according to a geolocation time obtained using a geolocation component of the multi-sensor environment, the geolocation time indicating a time according to a geolocation system clock external to the multi-sensor environment;
• transmitting, from the component, a first signal to a first sensor of the multi-sensor environment, the first signal including a master time stamp;
• receiving, by the component, a second signal from the first sensor, the second signal including first sensor data produced using the first sensor, the second signal including a first time stamp determined by the first sensor based on the master time and a latency associated with the first sensor, the first time stamp indicating a time of an event associated with the first sensor data;
• and
• determining that the first sensor data corresponds to second sensor data produced using a second sensor of the multi-sensor environment, the determining based on the first time stamp and a second time stamp indicating a time of an event associated with the second sensor data.

A non-transitory computer-readable storage device including program instructions executable by one or more processors that, when executed, cause the one or more processors to perform operations for time synchronization of sensor data in a multi-sensor environment, the operations comprising:

• transmitting a first signal to a lidar sensor to cause the lidar sensor to produce first sensor data at a first time;
• transmitting a second signal to a second sensor to cause the second sensor to produce second sensor data at a second time, wherein the second time is determined based on the first time and a phase offset;
• and
• associating the first sensor data with the second sensor data based on the first time and the second time.

A system for time synchronization of sensor data in a multi-sensor environment, comprising:

• a control component that is configured to:
• transmit a first signal to a lidar sensor to cause the lidar sensor to produce first sensor data at a first time,
• transmit a second signal to a second sensor to cause the second sensor to produce second sensor data at a second time, wherein the second time is determined based on the first time and a phase offset, and
• associate the first sensor data with the second sensor data based on the first time and the second time.

A system for time synchronization of sensor data in a multi-sensor environment using a master time, comprising:

• a component that derives the master time, wherein the component is configured to:
• transmit a first signal to a first sensor of the multi-sensor environment and to a second sensor of the multi-sensor environment, the first signal including a master time stamp,
• receive a second signal from the first sensor, the second signal including first sensor data produced using the first sensor, the second signal including a first time stamp determined by the first sensor based on the master time and a latency associated with the first sensor, the first time stamp indicating a time of an event associated with the first sensor data,
• receive a third signal from the second sensor, the third signal including second sensor data produced using the second sensor, the third signal including a second time stamp determined by the second sensor based on the master time stamp and a latency associated with the second sensor, the second time stamp indicating a time of an event associated with the second sensor data, and
• determine that the first sensor data corresponds to the second sensor data based on the first time stamp and the second time stamp.

A system for time synchronization of sensor data in a multi-sensor environment using a master time, comprising:

• a component that derives the master time, wherein the component is configured to:
• initialize the master time according to a geolocation time obtained using a geolocation component of the multi-sensor environment, the geolocation time indicating a time according to a geolocation system clock external to the multi-sensor environment,
• transmit a first signal to a first sensor of the multi-sensor environment, the first signal including a master time stamp,
• receive a second signal from the first sensor, the second signal including first sensor data produced using the first sensor, the second signal including a first time stamp determined by the first sensor based on the master time and a latency associated with the first sensor, the first time stamp indicating a time of an event associated with the first sensor data, and
• determine that the first sensor data corresponds to second sensor data produced using a second sensor of the multi-sensor environment based on the first time stamp and a second time stamp indicating a time of an event associated with the second sensor data.