2.5. Why do you need a camera and Lidar synchronization? How do you synchronize?

To achieve high-precision fusion, it is essential to align the data obtained from the camera with the data obtained from LiDAR in the temporal direction. Therefore, it is necessary to synchronize the camera and LiDAR to acquire data.

Time synchronization is achieved through Precision Time Protocol (PTP) between ECUs. Between the ECU and the sensor, triggering input is provided to the camera, and PTP synchronization is utilized with LiDAR to establish the timing of the sensor and synchronize the timestamps.