发表机构
Technische Hochschule Ingolstadt（英戈尔施塔特技术大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究路边多激光雷达与多摄像头系统数据对齐问题，提出开源、简单、模块化的硬件触发时间同步电路，通过实验评估其对时空对齐的影响，实现跨传感器一致性最大化，为多传感器同步提供低成本可扩展方案。
AI 中文摘要
在路边多激光雷达、多摄像头系统中，异构传感器的精确时间对齐对于可靠的环境感知至关重要，尤其是在密集城市交通中。为此，本文提出了一种开源、简单、模块化且可配置的硬件触发时间同步电路，用于在激光雷达和多个摄像头之间进行时间对齐或精确时间同步。在设计的电路中，激光雷达同步脉冲用作参考输入，为每个摄像头生成独立可编程、延时的触发脉冲，可灵活适应不同的传感器设置和安装几何形状。在由激光雷达和三个摄像头组成的路边感知系统上进行了一系列实验，系统地改变触发延迟，并评估其对时空对齐的影响。对于不同类别的道路使用者，量化激光雷达点云测量与摄像头测量之间的重叠，以确定最大化跨传感器一致性的延迟配置。所提出的电路由于其简单和开源的设计，在保持易于部署、重新配置和扩展的同时，实现了强大且可重复的同步。在三摄像头路边系统上验证后，该电路扩展到具有七个摄像头和一个激光雷达的车辆平台，为跨基础设施和车辆设置的多传感器同步提供了低成本、可扩展的解决方案。所有硬件电路设计文件和源代码可在该https URL获取。
英文摘要
Accurate temporal alignment of heterogeneous sensors is necessary for reliable environment perception in roadside multi-lidar, multi-camera systems, particularly in dense urban traffic. For this purpose, an open-source, simple, modular, and configurable hardware-triggered time-synchronization circuit is presented in this work to perform temporal alignment or accurate time synchronization between a lidar and multiple cameras. In the designed circuit, a lidar synchronization pulse is used as a reference input, and independently programmable, time-delayed trigger pulses are generated for each camera, allowing flexible adaptation to varying sensor setups and mounting geometries. A series of experiments is conducted on a roadside-mounted perception system comprised of lidar and three cameras, in which the trigger delay is systematically varied, and its impact on spatial-temporal alignment is evaluated. For different classes of road users, the overlap between lidar point cloud measurements and camera measurements is quantified to identify delay configurations that maximize cross-sensor consistency. The proposed circuit is shown to achieve robust and repeatable synchronization while remaining straightforward to deploy, reconfigure, and extend due to its simple and open-source design. Following validation on a three-camera roadside system, the circuit is extended to a vehicle platform with seven cameras and a lidar, providing a low-cost, extensible solution for multi-sensor synchronization across infrastructure and vehicle setups. All hardware circuit design files and source codes are available at https://github.com/shiva-THI/hardware-trigger-time-sync-lidar-cameras.
CommentsAccepted at the IEEE International Conference on Intelligent Transportation Systems (ITSC 2026). Code and hardware design: https://github.com/shiva-THI/hardware-trigger-time-sync-lidar-cameras
