Detecting stereoscopic camera desynchronization

An apparatus comprising a processing unit and memory storing instructions that, when executed by the processing unit, cause the processing unit to perform steps comprising:

• receiving a first frame from a first camera and a second frame from a second camera;
• associating, with the first image, a first timestamp that the first image is received;
• associating, with the second image, a second timestamp that the second image is received;
• determining whether the first camera and the second camera are synchronized based on the first timestamp and the second timestamp;
• selecting, responsive to the first camera and the second camera being desynchronized, a camera from the first camera and the second camera;
• and
• resynchronizing the first camera and the second camera by transmitting a padding data instruction to the selected camera.

An autonomous vehicle for detecting stereoscopic camera desynchronization comprising:

• a first camera;
• a second camera facing a same direction as the first camera;
• a processing unit operatively coupled to the first camera and the second camera, the processing unit configured to perform steps comprising:
• receiving a first frame from the first camera and a second frame from the second camera;
• associating, with the first image, a first timestamp that the first image is received;
• associating, with the second image, a second timestamp that the second image is received;
• determining whether the first camera and the second camera are synchronized based on the first timestamp and the second timestamp;
• selecting, responsive to the first camera and the second camera being desynchronized, a camera from the first camera and the second camera;
• and
• resynchronizing the first camera and the second camera by transmitting a padding data instruction to the selected camera.