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RTMaps – Real-time Multisensor Applications

Development Environment for Multisensor Applications (ADAS, robotics, …)

RTMaps from Intempora is a component-based software development and execution environment which enables users to time-stamp, record, synchronize and play back data from various sensors and vehicle buses. 

Application Areas

Multisensor applications play an essential role in many areas such as advanced driver assistance systems, autonomous driving, multimodal human-machine interfaces, robotics and aerospace. 

Developing these kinds of applications in the lab or in the vehicle typically requires capturing, synchronizing and processing data in real time from various sensors such as cameras, laser scanners, radars or GNSS receivers and interfacing with communication networks, such as CAN, LIN or Ethernet. During the test and development phase, it is also essential to be able to record, visualize and play back time-correlated data. RTMaps (Real-Time Multisensor applications) from Intempora ( is designed specifically for these use cases. It provides a modular development and run-time environment for x86- and ARM-based platforms supporting operating systems such as Microsoft Windows® and Linux. 

Key Benefits

With RTMaps, data is acquired asynchronously and each data sample is captured along with its time stamp at its own genuine pace. This ensures that all data is time-correlated. RTMaps’ unparalleled performance on multicore CPUs enables users to get the most out of their computing architectures and easily set up applications that handle multiple, high-bandwidth data streams, including real-time processing and data fusion. Sensor data can be recorded and played back synchronously for offline development and testing under reproducible conditions.

RTMaps provides comprehensive component libraries for automotive sensors, buses and perception algorithms and it supports any type and quantity of sensors and actuators. Algorithms can be developed easily by means of block diagrams or by integrating own code using dedicated software development kits for C++ and Python. It is even possible to process data on multiple distributed platforms while preserving time coherency and synchronization of heterogeneous data streams.  

Integration in the dSPACE Tool Chain

RTMaps is tightly integrated in the dSPACE tool chain. For this, dSPACE provides an interface blockset designed specifically for dSPACE’s PC-based simulation platform VEOS and dSPACE real-time systems to exchange data with low latencies and synchronize clocks with RTMaps. In addition, dSPACE ControlDesk® can be connected to RTMaps via the ASAM XIL API, which lets users monitor and parameterize components that are implemented and processed in RTMaps.

Functionality Description
  • Developing, testing, validating and benchmarking processing algorithms and data fusion algorithms
  • 2-D & 3-D visualization
  • Data time-stamping, latency measurement, downstream resynchronization
  • Datalogging and real-time data playback for offline development and validation
  • Graphical programming by means of block diagrams and easy integration of C++, Python and Simulink code
  • Optimized, multithread run-time engine and dedicated real-time capabilities
  • Data processing and data synchronization on multiple distributed platforms
  • RTMaps Studio with large module libraries for graphical development
  • RTMaps Runtime Engine for embedded deployment and customized HMIs
  • Record and play back measurement data in ADTF DAT-file format
Supported sensors, communication buses and protocols
  • Cameras (GigE Vision, USB 2.0, USB 3.0, FireWire, analog, Camera Link, HDR, ... from Point Grey, IDS, Basler, AVT, NIT, ...)
  • Stereo-vision heads
  • Laser scanners (IBEO, Velodyne, SICK, Hokuyo, Quanergy)
  • Radars (Delphi, Autocruise, Continental, ...)
  • Time-of-flight sensors (LeddarTech)
  • CAN, LIN (Peak, Kvaser, Vector Informatik, .dbc file decoder)
  • GPS, IMUs (SBG Systems, OxTS, Xsens, VectorNav, IXSEA, Phidgets, ...)
  • Communication (TCP & UDP, DDS, ASAM XIL API, ...)
  • Analog/digital I/O (Data Translation, Phidgets, Audio, ...)
  • Eye trackers (Pertech, faceLAB, SmartEye, SMI, The Eye Tribe, ...) and biometrics (BIOPAC, Becker Meditec, ...)
  • Motion capturing (Kinect, Xtion, Vicon, ...)
Supported operating systems and platforms
  • Windows®, Linux, Embedded Linux
  • x86, x86_64, ARMv7
Targeted applications
  • Advanced driving assistance systems
  • Autonomous vehicles
  • Mobile robotics
  • Data recorders
  • Advanced multimodal HMIs

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