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
fDate :
June 28 2015-July 1 2015
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;
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2015 IEEE
Conference_Location :
Seoul
DOI :
10.1109/IVS.2015.7225688
