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Time and Data Synchronization & Calibrations between Camera, LiDAR and Radar

Hi. I am working on large heavy vehicles off-road in industrial environments. The sensors that were employed at our initial stage of experiment are FalconIQ IP RGB Camera, Velodyne VLP-32C LiDAR sensor and SmartMicro UMRR T-153 Automotive Radar sensor. These sensors are arranged in a parallel.

I am new to this and would like to seek some advice and/or pointers on how to acquire data synchronously from three sensors together for object detection as well as time synchronization issue. Is there any available open-source ROS packages that I could refer to?

I would also like to seek advice on calibrating three sensors together as I read some articles that sensor calibration is an important step before going into data acquisition. I would also like to seek advice on how could I project / visualize pointclouds from lidar and radar on camera visualization.

Your help are much appreciated. Many Thanks.

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