SmartDepthSync: Open Source Synchronized Video Recording System of Smartphone RGB and Depth Camera Range Image Frames with Sub-millisecond Precision
This system addresses the need for synchronized visual and depth data in robotics, though it is incremental as it builds on existing smartphone sensor capabilities.
The authors tackled the problem of synchronizing smartphone RGB and external depth camera frames by developing a hardware-software recording system that achieves sub-millisecond precision, enabling simultaneous exposure of RGB and depth frames.
Nowadays, smartphones can produce a synchronized (synced) stream of high-quality data, including RGB images, inertial measurements, and other data. Therefore, smartphones are becoming appealing sensor systems in the robotics community. Unfortunately, there is still the need for external supporting sensing hardware, such as a depth camera precisely synced with the smartphone sensors. In this paper, we propose a hardware-software recording system that presents a heterogeneous structure and contains a smartphone and an external depth camera for recording visual, depth, and inertial data that are mutually synchronized. The system is synced at the time and the frame levels: every RGB image frame from the smartphone camera is exposed at the same moment of time with a depth camera frame with sub-millisecond precision. We provide a method and a tool for sync performance evaluation that can be applied to any pair of depth and RGB cameras. Our system could be replicated, modified, or extended by employing our open-sourced materials.