{
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  "description": "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…",
  "path": "/patents/1343765",
  "publishedAt": "2023-05-18T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G06V20/58",
    "Connaught Electronics Ltd."
  ],
  "textContent": "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.",
  "title": "A SYSTEM AND METHOD TO TRACK A COUPLED VEHICLE"
}