3D pose estimation for articulated vehicles using Kalman-filter based tracking

Аннотация

Knowledge about relative poses within a tractor/trailer combination is a vital prerequisite for kinematic modelling and trajectory estimation. In case of autonomous vehicles or driver assistance systems, for example, the monitoring of an attached passive trailer is crucial for operational safety. We propose a camerabased 3D pose estimation system based on a Kalman-filter. It is evaluated against previously published methods for the same problem.