Connaught Electronics Limited

Ana Robleda

Alan Hanniffy

Alan Murphy

Enrique Romay-Castineira

Daniel Garcia

Henrik Marschner

Swaroop Shivamurthy

Vera Stehr

Yerai Berenguer

A method for providing a yaw angle () between a first vehicle () coupled to a second vehicle (), comprises: receiving an image of the first vehicle from a camera () mounted on the second vehicle; performing () a polar transformation on the image to form a polar image () in a polar space having an origin corresponding to a location of a pivot point () of the coupling () to the second vehicle in the received image coordinate space; estimating () an optical coupling angle by analysing the content of the polar image; receiving a signal from an odometer () mounted on the first or second vehicle; estimating a kinematic coupling angle from the signal and a kinematic model of the first vehicle and the coupled second vehicle; and combining the estimated optical coupling angle and the estimated kinematic coupling angle to provide the coupling angle.

System and method to track a coupled vehicle

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Tuam, Ireland

Ana Robleda