Abstract
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.
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Winkens, C., Fuchs, C., Neuhaus, F., Paulus, D. (2015). Optical Truck Tracking for Autonomous Platooning. In: Azzopardi, G., Petkov, N. (eds) Computer Analysis of Images and Patterns. CAIP 2015. Lecture Notes in Computer Science(), vol 9257. Springer, Cham. https://doi.org/10.1007/978-3-319-23117-4_4
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DOI: https://doi.org/10.1007/978-3-319-23117-4_4
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