Dataset for trailer angle estimation using radar point clouds
The automotive industry is interested in the estimation of vehicle trailer rotation (trailer angle or hitch angle) due to its use in trailer control algorithms. We present an experimental dataset collected in a study of the estimation problem [1] and a MATLAB code implementation of the study. The da...
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| Format: | Article |
| Language: | English |
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Elsevier
2021-10-01
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| Series: | Data in Brief |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2352340921005898 |
| _version_ | 1818966273068892160 |
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| author | Kunle T. Olutomilayo Mojtaba Bahramgiri Saeid Nooshabadi JinHyoung Oh Mohsen Lakehal-Ayat Douglas Rogan Daniel R. Fuhrmann |
| author_facet | Kunle T. Olutomilayo Mojtaba Bahramgiri Saeid Nooshabadi JinHyoung Oh Mohsen Lakehal-Ayat Douglas Rogan Daniel R. Fuhrmann |
| author_sort | Kunle T. Olutomilayo |
| collection | DOAJ |
| description | The automotive industry is interested in the estimation of vehicle trailer rotation (trailer angle or hitch angle) due to its use in trailer control algorithms. We present an experimental dataset collected in a study of the estimation problem [1] and a MATLAB code implementation of the study. The data collection apparatus is a truck mock-up that is attached to a flatbed trailer at the hitch ball. Two radars are installed in the taillight fixtures of the truck and a camera is installed in the truck’s tailgate like a typical backup camera installation. A rotary motion sensor is also installed at the hitch ball to provide ground truth measurement of the trailer angle. To aid analysis of the dataset, both radar detections are transformed onto a vehicle coordinate system (VCS) having its origin at the hitch ball i.e. the different radar viewpoints are combined into one with respect to the hitch ball. The MATLAB code presented with this article has two major functionalities. The first functionality is the visualization of both radar detections, the combined radar detections in the VCS, the camera images, and the ground truth angles, as the trailer rotates. The second functionality of the code is the replication of the estimation results in [1], which used only the radar detections from the dataset. |
| first_indexed | 2024-12-20T13:30:17Z |
| format | Article |
| id | doaj.art-150c0ec9e95e448ab44bffe8e21fefca |
| institution | Directory Open Access Journal |
| issn | 2352-3409 |
| language | English |
| last_indexed | 2024-12-20T13:30:17Z |
| publishDate | 2021-10-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Data in Brief |
| spelling | doaj.art-150c0ec9e95e448ab44bffe8e21fefca2022-12-21T19:39:06ZengElsevierData in Brief2352-34092021-10-0138107305Dataset for trailer angle estimation using radar point cloudsKunle T. Olutomilayo0Mojtaba Bahramgiri1Saeid Nooshabadi2JinHyoung Oh3Mohsen Lakehal-Ayat4Douglas Rogan5Daniel R. Fuhrmann6Corresponding author at: Ford Greenfield Labs, Palo Alto, CA 94304, United States.; Ford Greenfield Labs, Palo Alto, CA 94304, United States; Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI 49931, United StatesDepartment of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI 49931, United StatesFord Greenfield Labs, Palo Alto, CA 94304, United States; Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI 49931, United StatesFord Greenfield Labs, Palo Alto, CA 94304, United StatesFord Greenfield Labs, Palo Alto, CA 94304, United StatesFord Greenfield Labs, Palo Alto, CA 94304, United StatesDepartment of Applied Computing, Michigan Technological University, Houghton, MI 49931, United StatesThe automotive industry is interested in the estimation of vehicle trailer rotation (trailer angle or hitch angle) due to its use in trailer control algorithms. We present an experimental dataset collected in a study of the estimation problem [1] and a MATLAB code implementation of the study. The data collection apparatus is a truck mock-up that is attached to a flatbed trailer at the hitch ball. Two radars are installed in the taillight fixtures of the truck and a camera is installed in the truck’s tailgate like a typical backup camera installation. A rotary motion sensor is also installed at the hitch ball to provide ground truth measurement of the trailer angle. To aid analysis of the dataset, both radar detections are transformed onto a vehicle coordinate system (VCS) having its origin at the hitch ball i.e. the different radar viewpoints are combined into one with respect to the hitch ball. The MATLAB code presented with this article has two major functionalities. The first functionality is the visualization of both radar detections, the combined radar detections in the VCS, the camera images, and the ground truth angles, as the trailer rotates. The second functionality of the code is the replication of the estimation results in [1], which used only the radar detections from the dataset.http://www.sciencedirect.com/science/article/pii/S2352340921005898Hitch angle estimationRadar point cloudTrailer rotation |
| spellingShingle | Kunle T. Olutomilayo Mojtaba Bahramgiri Saeid Nooshabadi JinHyoung Oh Mohsen Lakehal-Ayat Douglas Rogan Daniel R. Fuhrmann Dataset for trailer angle estimation using radar point clouds Data in Brief Hitch angle estimation Radar point cloud Trailer rotation |
| title | Dataset for trailer angle estimation using radar point clouds |
| title_full | Dataset for trailer angle estimation using radar point clouds |
| title_fullStr | Dataset for trailer angle estimation using radar point clouds |
| title_full_unstemmed | Dataset for trailer angle estimation using radar point clouds |
| title_short | Dataset for trailer angle estimation using radar point clouds |
| title_sort | dataset for trailer angle estimation using radar point clouds |
| topic | Hitch angle estimation Radar point cloud Trailer rotation |
| url | http://www.sciencedirect.com/science/article/pii/S2352340921005898 |
| work_keys_str_mv | AT kunletolutomilayo datasetfortrailerangleestimationusingradarpointclouds AT mojtababahramgiri datasetfortrailerangleestimationusingradarpointclouds AT saeidnooshabadi datasetfortrailerangleestimationusingradarpointclouds AT jinhyoungoh datasetfortrailerangleestimationusingradarpointclouds AT mohsenlakehalayat datasetfortrailerangleestimationusingradarpointclouds AT douglasrogan datasetfortrailerangleestimationusingradarpointclouds AT danielrfuhrmann datasetfortrailerangleestimationusingradarpointclouds |