{"id":"https://openalex.org/W7140775819","doi":"https://doi.org/10.48550/arxiv.2603.23711","title":"Mind the Hitch: Dynamic Calibration and Articulated Perception for Autonomous Trucks","display_name":"Mind the Hitch: Dynamic Calibration and Articulated Perception for Autonomous Trucks","publication_year":2026,"publication_date":"2026-03-24","ids":{"openalex":"https://openalex.org/W7140775819","doi":"https://doi.org/10.48550/arxiv.2603.23711"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.23711","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23711","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.23711","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120861918","display_name":"Morui Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Morui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130663876","display_name":"Yongqi Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Yongqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085721305","display_name":"Song Fu","orcid":"https://orcid.org/0000-0003-2052-7435"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Song","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5130667909","display_name":"Qing Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Qing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.26989999413490295,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.26989999413490295,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2563000023365021,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.09740000218153,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6348000168800354},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.529699981212616},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.510699987411499},{"id":"https://openalex.org/keywords/articulated-vehicle","display_name":"Articulated vehicle","score":0.4399000108242035},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.42829999327659607},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.37290000915527344},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.3418000042438507},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.34150001406669617}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6348000168800354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6297000050544739},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5313000082969666},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.529699981212616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5113000273704529},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.510699987411499},{"id":"https://openalex.org/C56691938","wikidata":"https://www.wikidata.org/wiki/Q1411533","display_name":"Articulated vehicle","level":3,"score":0.4399000108242035},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.42829999327659607},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.37290000915527344},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.3418000042438507},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.34150001406669617},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3400999903678894},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32829999923706055},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.32580000162124634},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.31310001015663147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3018999993801117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3000999987125397},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2928999960422516},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29010000824928284},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.27059999108314514},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.2615000009536743},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2556999921798706}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.23711","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23711","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.23711","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23711","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6492026448249817,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"trucking":[1],"poses":[2,13],"unique":[3],"challenges":[4],"due":[5],"to":[6,78],"articulated":[7],"tractor-trailer":[8],"geometry,":[9],"and":[10,19,24,34,48,66,75,93,127,156],"time-varying":[11,128],"sensor":[12],"caused":[14],"by":[15,103],"the":[16,57,144],"fifth-wheel":[17],"joint":[18],"trailer":[20,67],"flex.":[21],"Existing":[22],"perception":[23,89,141],"calibration":[25,106,148],"methods":[26],"assume":[27],"static":[28,105,147],"baselines":[29],"or":[30],"rely":[31],"on":[32],"high-parallax":[33],"texture-rich":[35],"scenes,":[36],"limiting":[37],"their":[38],"reliability":[39],"under":[40,90],"real-world":[41],"settings.":[42],"We":[43],"propose":[44],"dCAP":[45,69,98,137],"(dynamic":[46],"Calibration":[47],"Articulated":[49],"Perception),":[50],"a":[51,71,117],"vision-based":[52],"framework":[53],"that":[54,136],"continuously":[55],"estimates":[56],"6-DoF":[58],"(degree":[59],"of":[60,146],"freedom)":[61],"relative":[62],"pose":[63],"between":[64],"tractor":[65],"cameras.":[68],"employs":[70],"transformer":[72],"with":[73,96,107,123],"cross-view":[74],"temporal":[76,85],"attention":[77],"robustly":[79],"aggregate":[80],"spatial":[81],"cues":[82],"while":[83,142],"maintaining":[84],"consistency,":[86],"enabling":[87],"accurate":[88,140],"rapid":[91],"articulation":[92],"occlusion.":[94],"Integrated":[95],"BEVFormer,":[97],"improves":[99],"3D":[100],"object":[101],"detection":[102],"replacing":[104],"dynamically":[108],"predicted":[109],"extrinsics.":[110],"To":[111],"facilitate":[112],"evaluation,":[113],"we":[114],"introduce":[115],"STT4AT,":[116],"CARLA-based":[118],"benchmark":[119],"simulating":[120],"semi-trailer":[121],"trucks":[122],"synchronized":[124],"multi-sensor":[125],"suites":[126],"inter-rig":[129],"geometry":[130],"across":[131],"diverse":[132],"environments.":[133],"Experiments":[134],"demonstrate":[135],"achieves":[138],"stable,":[139],"addressing":[143],"limitations":[145],"in":[149],"autonomous":[150],"trucking.":[151],"The":[152],"dataset,":[153],"development":[154],"kit,":[155],"source":[157],"code":[158],"will":[159],"be":[160],"publicly":[161],"released.":[162]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-27T00:00:00"}
