Sensor Fusion & Autonomy

⚠The Problem

Multi-sensor systems are hard. Time-synchronization drift across cameras, LiDAR, and IMU produces fusion errors that cascade into false positives. Copying frame data between sensor drivers and inference engines eats CPU cycles and adds latency.

Our Approach

• Hardware timestamping: PPS-based synchronization across all sensors to <1µs
• Zero-copy buffer pipeline: camera → ISP → DMA → inference — no CPU copies
• Kalman / complementary filter tuning for IMU + encoder fusion
• ROS2 DDS middleware with real-time QoS policies
• V4L2 multi-planar buffers for efficient multi-camera capture

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