DocumentCode
1891800
Title
Advanced 3-D trailer pose estimation for articulated vehicles
Author
Fuchs, Christian ; Neuhaus, Frank ; Paulus, Dietrich
Author_Institution
Active Vision Group, Univ. of Koblenz-Landau, Koblenz, Germany
fYear
2015
fDate
June 28 2015-July 1 2015
Firstpage
211
Lastpage
216
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.
Keywords
Kalman filters; driver information systems; optical sensors; pose estimation; road vehicles; 3D state measurement; Kalman filter; advanced 3D trailer pose estimation; advanced optical sensor system; articulated vehicles; attached two-axle trailer; driver assistance systems; kinematic calculation; trajectory estimation; truck orientation; truck position; truck/trailer combinations; Accuracy; Cameras; Estimation; Kalman filters; Noise; Sensor systems; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium (IV), 2015 IEEE
Conference_Location
Seoul
Type
conf
DOI
10.1109/IVS.2015.7225688
Filename
7225688
Link To Document