US 11,682,139 B2
System and method for trailer pose estimation
Ankur Agarwal, Cupertino, CA (US)
Assigned to PlusAI, Inc., Cupertino, CA (US)
Filed by PlusAI, Inc., Cupertino, CA (US)
Filed on Aug. 10, 2021, as Appl. No. 17/398,437.
Application 17/398,437 is a continuation of application No. 16/707,461, filed on Dec. 9, 2019, granted, now 11,087,496.
Prior Publication US 2022/0051439 A1, Feb. 17, 2022
Int. Cl. G06T 7/73 (2017.01); G06T 7/80 (2017.01); G08G 1/16 (2006.01)
CPC G06T 7/80 (2017.01) [G06T 7/73 (2017.01); G08G 1/167 (2013.01); G06T 2207/30236 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
at least one processor; and
a memory storing instructions that, when executed by the at least one processor, cause the system to perform operations comprising:
producing a plurality of poses of a trailer for a plurality of times based on repeated identification of sets of feature points and repeated estimation of the plurality of poses over the plurality of times, wherein producing a pose of the trailer comprises:
identifying a first set of feature points from a first image of a fiducial marker present on a surface of a vehicle or a surface of a trailer acquired at a first time by a sensor deployed on the other of the surface of the vehicle or the surface of the trailer;
identifying a second set of feature points from a second image of the fiducial marker acquired at a second time by the sensor, each feature point from the second set of feature points corresponding to one feature point from the first set of feature points; and
estimating the pose of the trailer at the second time based on the first set of feature points, the second set of feature points, and a dimension of the trailer.