{"title":"Advanced 3-D trailer pose estimation for articulated vehicles","authors":"Christian Fuchs, F. Neuhaus, D. Paulus","doi":"10.1109/IVS.2015.7225688","DOIUrl":null,"url":null,"abstract":"When crafting driver assistance systems designed for truck/trailer combinations, knowledge about the position and orientation of a truck relative to the attached trailer is a vital prerequisite for any kinematic calculation and trajectory estimation. An advanced optical sensor system measuring the 3-D state of an attached two-axle trailer is proposed in this publication. It uses a Kalman filter for enhanced pose estimation and is evaluated against previous versions of the sensor system for the same purpose.","PeriodicalId":294701,"journal":{"name":"2015 IEEE Intelligent Vehicles Symposium (IV)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE Intelligent Vehicles Symposium (IV)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IVS.2015.7225688","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 7
Abstract
When crafting driver assistance systems designed for truck/trailer combinations, knowledge about the position and orientation of a truck relative to the attached trailer is a vital prerequisite for any kinematic calculation and trajectory estimation. An advanced optical sensor system measuring the 3-D state of an attached two-axle trailer is proposed in this publication. It uses a Kalman filter for enhanced pose estimation and is evaluated against previous versions of the sensor system for the same purpose.
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