De Saxe, ChristopherCebon, D2017-06-072017-06-072016-11De 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 Zealandhttp://hvttconference.com/HVTT14/wp-content/uploads/2015/10/Conference_2016_Program_Reduced.pdfhttps://www.researchgate.net/publication/311038991_Visual_odometry_for_trailer_off-tracking_estimationhttp://hdl.handle.net/10204/925314th International Symposium on Heavy Vehicle Transport Technology (HVTT14), 15-18 November 2016, Rotorua, New ZealandApplication 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.enArticulated HGVsOff-trackingVisual odometryStereo visionTrailer steeringConference PresentationDe Saxe, C., & Cebon, D. (2016). Visual odometry for trailer off-tracking estimation. http://hdl.handle.net/10204/9253De Saxe, Christopher, and D Cebon. "Visual odometry for trailer off-tracking estimation." (2016): http://hdl.handle.net/10204/9253De Saxe C, Cebon D, Visual odometry for trailer off-tracking estimation; 2016. http://hdl.handle.net/10204/9253 .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 -