SmartDepthSync: Open Source Synchronized Video Recording System of Smartphone RGB and Depth Camera Range Image Frames with Sub-millisecond Precision

TL;DR

SmartDepthSync is an open-source system that enables sub-millisecond synchronized recording of RGB and depth camera data on smartphones, facilitating precise multimodal sensor data collection for robotics.

Contribution

The paper introduces a hardware-software system that synchronizes smartphone RGB and external depth camera data at frame and time levels with sub-millisecond accuracy, including evaluation tools.

Findings

Achieved sub-millisecond synchronization accuracy between RGB and depth cameras.

Provided open-source tools for synchronization performance evaluation.

Demonstrated system's potential for robotics sensor data collection.

Abstract

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.