Mind the Hitch: Dynamic Calibration and Articulated Perception for Autonomous Trucks
Autonomous trucking poses unique challenges due to articulated tractor-trailer geometry, and time-varying sensor poses caused by the fifth-wheel joint and trailer flex. Existing perception and calibration methods assume static baselines or rely on high-parallax and texture-rich scenes, limiting their reliability under real-world settings. We propose dCAP (dynamic Calibration and Articulated Perception), a vision-based framework that continuously estimates the 6-DoF (degree of freedom) relative pose between tractor and trailer cameras. dCAP employs a transformer with cross-view and temporal attention to robustly aggregate spatial cues while maintaining temporal consistency, enabling accura...
| Authors | Morui Zhu, Yongqi Zhu, Song Fu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 24 March 2026 |
| Last updated at source | 1 April 2026 |
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