3D pose detection for articulated vehicles

Abstract

The knowledge about relative poses within a tractor/trailer combination is a vital prerequisite for kinematic modeling 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. A 3-D pose detection sensor based on an optical approach suitable for uneven ground is presented and evaluated against a 2-D method in this article using a virtual test environment.