diff --git a/device/libcamera/buffer.cc b/device/libcamera/buffer.cc
index de4918e..af48547 100644
--- a/device/libcamera/buffer.cc
+++ b/device/libcamera/buffer.cc
@@ -143,6 +143,15 @@ int libcamera_buffer_list_dequeue(buffer_list_t *buf_list, buffer_t **bufp)
 
   *bufp = buf_list->bufs[index];
 
+  std::optional<int64_t> sensor_timestamp((*bufp)->libcamera->request->metadata().
+    get<int64_t>(libcamera::controls::SensorTimestamp));
+  uint64_t sensor_timestamp_us = sensor_timestamp.value_or(0) / 1000;
+  uint64_t boot_time_us = get_time_us(CLOCK_BOOTTIME, NULL, NULL, 0);
+
+  uint64_t now_us = get_monotonic_time_us(NULL, NULL);
+
+  (*bufp)->captured_time_us = now_us - (boot_time_us - sensor_timestamp_us);
+
   if (index == 0) {
     libcamera_buffer_dump_metadata(*bufp);
   }
diff --git a/device/links.c b/device/links.c
index 563870f..54ee9d3 100644
--- a/device/links.c
+++ b/device/links.c
@@ -6,6 +6,9 @@
 #include "util/opts/log.h"
 #include "util/opts/fourcc.h"
 
+#include <inttypes.h>
+
+#define CAPTURE_TIMEOUT_US (1000*1000)
 #define N_FDS 50
 #define QUEUE_ON_CAPTURE // seems to provide better latency
 // #define LIMIT_CAPTURE_BUFFERS
@@ -148,6 +151,13 @@ static int links_enqueue_from_capture_list(buffer_list_t *capture_list, link_t *
     LOG_ERROR(capture_list, "No buffer dequeued from capture_list?");
   }
 
+  uint64_t now_us = get_monotonic_time_us(NULL, NULL);
+  if ((now_us - buf->captured_time_us) > CAPTURE_TIMEOUT_US) {
+    LOG_INFO(buf, "Capture image is outdated. Skipped. Now: %" PRIu64 ", vs %" PRIu64 ".",
+      now_us, buf->captured_time_us);
+    return 0;
+  }
+
   bool dropped = false;
 
   for (int j = 0; j < link->n_output_lists; j++) {