Triggering system

A triggering system for triggering a plurality of vehicle-mounted cameras for obtaining a set of images, the system comprising:

• a plurality of camera controllers that each control one or more cameras among the plurality of vehicle-mounted cameras;
• and
• a central unit comprising a primary controller that is configured to:
• repeatedly receive time information from a Global Navigation Satellite System, GNSS, and to repeatedly receive acceleration data from an inertial measurement unit, IMU;
• repeatedly generate first time data based on the received time information;
• repeatedly generate motion data based on and/or comprising the received acceleration data;
• generate second time data related to an instant in time at which recording of the set of images should start;
• repeatedly transmit said first time data and motion data to the plurality of camera controllers;
• and
• transmit said second time data to the plurality of camera controllers;
• wherein each camera controller comprises a local timing unit configured for generating third time data, and a secondary controller configured to trigger said one or more cameras among the plurality of vehicle-mounted cameras to initiate a recording of an image by said one or more cameras, the secondary controller of each camera controller being configured to:
• repeatedly synchronize the local timing unit of that camera controller based on the received first time data;
• repeatedly determine, for each camera among the one or more cameras, a respective triggering time instant at which a recording of an image should be initiated based on relative mounting position data of that camera, and the received motion data;
• repeatedly compare the third time data to a most recently determined triggering time instant for each of said one or more cameras;
• and
• trigger each of said one or more cameras based on a most recent comparison result such that entrance pupils of the plurality cameras are substantially at a same position at a time of recording the respective images.