dc.contributor.author |
De Saxe, Christopher
|
|
dc.contributor.author |
Cebon, D
|
|
dc.date.accessioned |
2017-06-07T08:04:34Z |
|
dc.date.available |
2017-06-07T08:04:34Z |
|
dc.date.issued |
2016-11 |
|
dc.identifier.citation |
De Saxe, C. and Cebon, D. 2016. Visual odometry for trailer off-tracking estimation. 14th International Symposium on Heavy Vehicle Transport Technology (HVTT14), 15-18 November 2016, Rotorua, New Zealand |
en_US |
dc.identifier.uri |
http://hvttconference.com/HVTT14/wp-content/uploads/2015/10/Conference_2016_Program_Reduced.pdf
|
|
dc.identifier.uri |
https://www.researchgate.net/publication/311038991_Visual_odometry_for_trailer_off-tracking_estimation
|
|
dc.identifier.uri |
http://hdl.handle.net/10204/9253
|
|
dc.description |
14th International Symposium on Heavy Vehicle Transport Technology (HVTT14), 15-18 November 2016, Rotorua, New Zealand |
en_US |
dc.description.abstract |
Application of articulated and Long Combination Vehicles (LCVs) in challenging off-highway applications is possible with the use of path-following trailer steering. This requires an accurate estimate of trailer off-tracking, but it has been shown that that existing methods for this are not applicable on roads with low friction or significant camber or grade. Here we propose an off-tracking measurement concept using stereo visual odometry which is applicable to off-highway environments. Simulation results demonstrate the theoretical accuracy of the system as well as the effects of camera placement and stereo baseline. Rear-mounted cameras are shown to yield the best precision, with RMS off-tracking measurement errors of 7–36 mm, while side-mounted cameras offer practical benefits such as scope for multiple-trailer configurations. Integration drift errors were shown to be bounded in time due to the relative nature of the off-tracking measurement. |
en_US |
dc.language.iso |
en |
en_US |
dc.relation.ispartofseries |
Worklist;17102 |
|
dc.subject |
Articulated HGVs |
en_US |
dc.subject |
Off-tracking |
en_US |
dc.subject |
Visual odometry |
en_US |
dc.subject |
Stereo vision |
en_US |
dc.subject |
Trailer steering |
en_US |
dc.title |
Visual odometry for trailer off-tracking estimation |
en_US |
dc.type |
Conference Presentation |
en_US |
dc.identifier.apacitation |
De Saxe, C., & Cebon, D. (2016). Visual odometry for trailer off-tracking estimation. http://hdl.handle.net/10204/9253 |
en_ZA |
dc.identifier.chicagocitation |
De Saxe, Christopher, and D Cebon. "Visual odometry for trailer off-tracking estimation." (2016): http://hdl.handle.net/10204/9253 |
en_ZA |
dc.identifier.vancouvercitation |
De Saxe C, Cebon D, Visual odometry for trailer off-tracking estimation; 2016. http://hdl.handle.net/10204/9253 . |
en_ZA |
dc.identifier.ris |
TY - Conference Presentation
AU - De Saxe, Christopher
AU - Cebon, D
AB - Application of articulated and Long Combination Vehicles (LCVs) in challenging off-highway applications is possible with the use of path-following trailer steering. This requires an accurate estimate of trailer off-tracking, but it has been shown that that existing methods for this are not applicable on roads with low friction or significant camber or grade. Here we propose an off-tracking measurement concept using stereo visual odometry which is applicable to off-highway environments. Simulation results demonstrate the theoretical accuracy of the system as well as the effects of camera placement and stereo baseline. Rear-mounted cameras are shown to yield the best precision, with RMS off-tracking measurement errors of 7–36 mm, while side-mounted cameras offer practical benefits such as scope for multiple-trailer configurations. Integration drift errors were shown to be bounded in time due to the relative nature of the off-tracking measurement.
DA - 2016-11
DB - ResearchSpace
DP - CSIR
KW - Articulated HGVs
KW - Off-tracking
KW - Visual odometry
KW - Stereo vision
KW - Trailer steering
LK - https://researchspace.csir.co.za
PY - 2016
T1 - Visual odometry for trailer off-tracking estimation
TI - Visual odometry for trailer off-tracking estimation
UR - http://hdl.handle.net/10204/9253
ER -
|
en_ZA |