Platooning applications require precise knowledge about position and orientation (pose) of the leading vehicle. We present an optical solution for a robust pose estimation using artificial markers and a camera as the only sensor. Temporal coherence of image sequences is used in a Kalman filter to obtain precise estimates. The system is designed for and tested in off-road scenarios. A pose evaluation is performed in a simulation testbed.
CITATION STYLE
Winkens, C., Fuchs, C., Neuhaus, F., & Paulus, D. (2015). Optical truck tracking for autonomous platooning. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9257, pp. 38–48). Springer Verlag. https://doi.org/10.1007/978-3-319-23117-4_4
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