A computer-implemented method of analyzing sensor synchronization in an autonomous driving vehicle, ADV, comprising: acquiring raw sensor data from a first sensor and a second sensor mounted on the ADV, the raw sensor data describing a target object in a surrounding environment of the ADV, wherein the first sensor is a rolling shutter camera, and the second sensor is a light detection and ranging, LiDAR, device wherein the rolling shutter camera is configured to scan vertically from top to bottom, generating horizontal frame lines; wherein there is a given time offset between two adjacent frame lines; wherein the rolling shutter camera has a trigger delay parameter indicating a delay between the trigger signal and the frame capture; wherein the LiDAR device is configured to scan horizontally from left to right, generating vertical scan lines; wherein there is a given time offset between two adjacent scan lines; generating an accuracy map based on the raw sensor data and timestamps extracted from the raw sensor data, wherein the accuracy map is an image that has a number of rows equal to the number of frame lines, a number of columns equal to the number of scan lines, and captures timestamp differences between the LiDAR device and the rolling shutter camera, generating a first bounding box and a second bounding box around the target object using the raw sensor data, wherein the first bounding box is a 2-D bounding box generated based on a first piece of sensor data from the rolling shutter camera. and wherein the second bounding box is a 3-D bounding box generated based on a second piece of sensor data from the LiDAR device; performing an analysis of the first and second bounding boxes and the accuracy map using a predetermined algorithm in view of one or more pre-configured sensor settings to determine whether the first sensor and the second sensor are synchronized with each other, at a target area, wherein the pre-configured sensor settings specify the target area and a corresponding trigger delay for the rolling shutter camera, causing a synchronization point between the rolling shutter camera and the LiDAR device to match the target area specified in the pre-configured sensor settings, wherein the first sensor and the second sensor capture the target object simultaneously at the synchronization point, with 0 differences in capture timestamps, acquiring raw sensor data from a first sensor and a second sensor mounted on the ADV, the raw sensor data describing a target object in a surrounding environment of the ADV, wherein the first sensor is a rolling shutter camera, and the second sensor is a light detection and ranging, LiDAR, device wherein the rolling shutter camera is configured to scan vertically from top to bottom, generating horizontal frame lines; wherein there is a given time offset between two adjacent frame lines; wherein the rolling shutter camera has a trigger delay parameter indicating a delay between the trigger signal and the frame capture; wherein the LiDAR device is configured to scan horizontally from left to right, generating vertical scan lines; wherein there is a given time offset between two adjacent scan lines; generating an accuracy map based on the raw sensor data and timestamps extracted from the raw sensor data, wherein the accuracy map is an image that has a number of rows equal to the number of frame lines, a number of columns equal to the number of scan lines, and captures timestamp differences between the LiDAR device and the rolling shutter camera, generating a first bounding box and a second bounding box around the target object using the raw sensor data, wherein the first bounding box is a 2-D bounding box generated based on a first piece of sensor data from the rolling shutter camera. and wherein the second bounding box is a 3-D bounding box generated based on a second piece of sensor data from the LiDAR device; performing an analysis of the first and second bounding boxes and the accuracy map using a predetermined algorithm in view of one or more pre-configured sensor settings to determine whether the first sensor and the second sensor are synchronized with each other, at a target area, wherein the pre-configured sensor settings specify the target area and a corresponding trigger delay for the rolling shutter camera, causing a synchronization point between the rolling shutter camera and the LiDAR device to match the target area specified in the pre-configured sensor settings, wherein the first sensor and the second sensor capture the target object simultaneously at the synchronization point, with 0 differences in capture timestamps,