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dc.contributor.author De Saxe, Christopher C
dc.contributor.author Cebon, D
dc.date.accessioned 2018-07-24T10:07:50Z
dc.date.available 2018-07-24T10:07:50Z
dc.date.issued 2018-06
dc.identifier.citation De Saxe, C.C. and Cebon, D. 2018. Estimation of trailer off-tracking using visual odometry. Vehicle System Dynamics: DOI: 10.1080/00423114.2018.1484498 en_US
dc.identifier.issn 0042-3114
dc.identifier.uri https://www.tandfonline.com/doi/full/10.1080/00423114.2018.1484498
dc.identifier.uri https://doi.org/10.1080/00423114.2018.1484498
dc.identifier.uri http://hdl.handle.net/10204/10327
dc.description © 2018 The Author(s). This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. en_US
dc.description.abstract High-capacity vehicles have been shown to be highly effective in reducing emissions associated with road freight transport. However, the reduced manoeuvrability of long vehicles often necessitates the use of active trailer steering. Path-following trailer steering systems are very effective in this regard, but are currently limited to on-highway applications due to the manner in which trailer off-tracking is estimated. In this work, a novel trailer off-tracking measurement concept is introduced which is independent of wheel slip and ground surface conditions, and requires no additional sensor measurements or parameter data from the tractor. The concept utilises a stereo camera pair affixed to the trailer and a visual odometry-based algorithm to calculate off-tracking. The concept was evaluated in detailed simulation and full-scale vehicle tests, demonstrating its feasibility and highlighting some important characteristics. RMS measurement errors of 0.11–0.12m (3.3–3.6%) were obtained in a challenging visual environment. en_US
dc.language.iso en en_US
dc.publisher Taylor & Francis en_US
dc.relation.ispartofseries Worklist;21124
dc.subject Off-tracking en_US
dc.subject Trailer steering en_US
dc.subject Visual odometry en_US
dc.subject Stereo vision en_US
dc.subject Articulated vehicles en_US
dc.title Estimation of trailer off-tracking using visual odometry en_US
dc.type Article en_US


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