diff --git a/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengine.dll b/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengine.dll
index fc85e11654ed2f2c65ffd83ff55ee3c0ac89831b..52e4c5cdc85dac5d976b9be9bd0fac8478286b9c 100644
Binary files a/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengine.dll and b/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengine.dll differ
diff --git a/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengined.dll b/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengined.dll
index fc0537a4aa082a3c82401143b436fd43b8c40884..5416d62eef9ac3003fb4234484564c003cc9dbb9 100644
Binary files a/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengined.dll and b/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengined.dll differ
diff --git a/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengined.pdb b/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengined.pdb
index 4c38d90f94bde09aaa84bc4ab649792ecc8800d5..0a88d345078898342f5da2847a996f15eafe9a66 100644
Binary files a/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengined.pdb and b/EyeRecToo/deps/runtime/x64/Debug/plugins/mediaservice/uvcengined.pdb differ
diff --git a/EyeRecToo/deps/runtime/x64/Debug/uvc.dll b/EyeRecToo/deps/runtime/x64/Debug/uvc.dll
index 9585d6242a496b7154c80036d6c3e0899c561a1e..839a4bb007bc4831bda75bd2bf651ac90c2e14c0 100644
Binary files a/EyeRecToo/deps/runtime/x64/Debug/uvc.dll and b/EyeRecToo/deps/runtime/x64/Debug/uvc.dll differ
diff --git a/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengine.dll b/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengine.dll
index fc85e11654ed2f2c65ffd83ff55ee3c0ac89831b..52e4c5cdc85dac5d976b9be9bd0fac8478286b9c 100644
Binary files a/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengine.dll and b/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengine.dll differ
diff --git a/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengined.dll b/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengined.dll
index fc0537a4aa082a3c82401143b436fd43b8c40884..5416d62eef9ac3003fb4234484564c003cc9dbb9 100644
Binary files a/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengined.dll and b/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengined.dll differ
diff --git a/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengined.pdb b/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengined.pdb
index 4c38d90f94bde09aaa84bc4ab649792ecc8800d5..0a88d345078898342f5da2847a996f15eafe9a66 100644
Binary files a/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengined.pdb and b/EyeRecToo/deps/runtime/x64/Release/plugins/mediaservice/uvcengined.pdb differ
diff --git a/EyeRecToo/deps/runtime/x64/Release/uvc.dll b/EyeRecToo/deps/runtime/x64/Release/uvc.dll
index 9585d6242a496b7154c80036d6c3e0899c561a1e..85a47b48ee1cc18ba4676c6c549530725cff525b 100644
Binary files a/EyeRecToo/deps/runtime/x64/Release/uvc.dll and b/EyeRecToo/deps/runtime/x64/Release/uvc.dll differ
diff --git a/EyeRecToo/src/FrameGrabber.cpp b/EyeRecToo/src/FrameGrabber.cpp
index a2bb9ec09bdd74a0261d072f73ad34f838ba99de..aaeb9c39bae7bb7de6639e8a69e4b529c775b712 100644
--- a/EyeRecToo/src/FrameGrabber.cpp
+++ b/EyeRecToo/src/FrameGrabber.cpp
@@ -9,8 +9,8 @@ FrameGrabber::FrameGrabber(QString id, int code, QObject *parent) :
     code(code),
     yuvBuffer(NULL),
     yuvBufferSize(0),
-    timestampOffset(INT_MAX),
-    timeoutMs(2e3)
+	timestampOffset(0),
+	timeoutMs(2e3)
 {
 #ifdef TURBOJPEG
     tjh = tjInitDecompress();
@@ -21,7 +21,7 @@ FrameGrabber::FrameGrabber(QString id, int code, QObject *parent) :
 
     // for the first frame, we give a bit of extra leeway becase gstreamer is slow...
     //watchdog->start(timeoutMs);
-    watchdog->start(15e3);
+	watchdog->start(15e3);
 
     pmIdx = gPerformanceMonitor.enrol(id, "Frame Grabber");
 }
@@ -86,11 +86,15 @@ bool FrameGrabber::present(const QVideoFrame &frame)
     Timestamp t = gTimer.elapsed();
 
     QVariant ft = frame.metaData("timestamp");
-    if (ft.isValid() ) {
-        if (timestampOffset == INT_MAX) // offset between gTimer and frame timer
-            timestampOffset = t - ft.toInt();
-        t = ft.toInt() + timestampOffset;
-    }
+	if (ft.isValid() ) {
+		if ( timestampOffsetEstimators.size() < 30) {
+			// Use median of first N frames to estimate the offset
+			timestampOffsetEstimators.emplace_back( t - ft.toInt() );
+			std::sort(timestampOffsetEstimators.begin(), timestampOffsetEstimators.end());
+			timestampOffset = timestampOffsetEstimators[ 0.5*(timestampOffsetEstimators.size()-1) ];
+		}
+		t = ft.toInt() + timestampOffset;
+	}
 
     if (!frame.isValid())
         return false;
@@ -117,8 +121,8 @@ bool FrameGrabber::present(const QVideoFrame &frame)
     copy.unmap();
 
     if (success && !cvFrame.empty()) {
-        watchdog->start(timeoutMs);
-        emit newFrame(t, cvFrame);
+		watchdog->start(timeoutMs);
+		emit newFrame(t, cvFrame);
     } else
         gPerformanceMonitor.account(pmIdx);
 
diff --git a/EyeRecToo/src/FrameGrabber.h b/EyeRecToo/src/FrameGrabber.h
index a2dd7afef089ad709bb8d7317e21a87ef425a4d1..0caa9fec2b0761c1e6f55f431535fa563af266c5 100644
--- a/EyeRecToo/src/FrameGrabber.h
+++ b/EyeRecToo/src/FrameGrabber.h
@@ -35,7 +35,8 @@ public slots:
 private:
     QTimer *watchdog;
     int timeoutMs;
-    int timestampOffset;
+	Timestamp timestampOffset;
+	std::vector<Timestamp> timestampOffsetEstimators;
 #ifdef TURBOJPEG
     tjhandle tjh;
 #endif
diff --git a/EyeRecToo/src/PerformanceMonitor.cpp b/EyeRecToo/src/PerformanceMonitor.cpp
index 5be3d7aa4053b3417187d750083f40c0908f7d6c..5efeadf1acc78248096c5edd8b78caaab07b539b 100644
--- a/EyeRecToo/src/PerformanceMonitor.cpp
+++ b/EyeRecToo/src/PerformanceMonitor.cpp
@@ -41,9 +41,9 @@ unsigned int PerformanceMonitor::enrol(const QString &id, const QString &stage)
     return idx;
 }
 
-bool PerformanceMonitor::shouldDrop(const unsigned int &idx, const unsigned int &delay, const unsigned int &maxDelay)
+bool PerformanceMonitor::shouldDrop(const unsigned int &idx, const int &delay, const int &maxDelay)
 {
-    if (delay > maxDelay) {
+	if (delay > maxDelay) {
         droppedFrameCount[idx]++;
         return frameDropEnabled;
     }
diff --git a/EyeRecToo/src/PerformanceMonitor.h b/EyeRecToo/src/PerformanceMonitor.h
index 6d9d56bdb64d91e4e7d8fe5f21da626d36c46ad2..b473648b3b368359d4319c62be5f7aa4505a7864 100644
--- a/EyeRecToo/src/PerformanceMonitor.h
+++ b/EyeRecToo/src/PerformanceMonitor.h
@@ -12,7 +12,7 @@ public:
 
     std::vector<unsigned long int> droppedFrameCount;
     unsigned int enrol(const QString &id, const QString &stage);
-    bool shouldDrop(const unsigned int &idx, const unsigned int &delay, const unsigned int &maxDelay=50);
+	bool shouldDrop(const unsigned int &idx, const int &delay, const int &maxDelay=50);
     void account(const unsigned int &idx);
     QString getEnrolled(const unsigned int &idx) { return idx < enrolled.size() ? enrolled[idx] : QString(); }
     unsigned int enrolledCount() { return (unsigned int) enrolled.size(); }