Spatial alignment is useless if the sensors are not synchronized in Time. If a robot is moving at 1 m/s, a tiny 10ms synchronization error results in a 1cm spatial misalignment.
Most CMOS cameras use a **Rolling Shutter**, where pixels are read row-by-row. If the camera or object is moving during this readback, the image appears tilted or "skewed". This is known as the Jello Effect.
Advanced VPS tracks use PTP (Precision Time Protocol) or hardware triggers to lock sensors to a microsecond clock. Without hardware clock sync, we must solve for the constant time offset $\Delta t$ by matching motion trajectories across sensors.
Visualizing misalignment during dynamic motion