SYSTEM AND METHOD FOR ESTIMATING RELATIVE TRAILER ANGLE

A method and system are disclosed for estimating and using a trailer angle of a trailer relative to a vehicle connected to thereto. The method includes receiving image data from at least one first camera disposed on a vehicle and from at least one second camera disposed on a trailer coupled to the vehicle, and identifying matched point pairs by matching points in the image data from the at least one first camera with points in the image data from the at least one second camera, the points matched not being points of a representation of the vehicle or a representations of the trailer in the image data. The trailer angle of the trailer relative to the vehicle is estimated based upon the matched point pairs.