Repository: Dataset for Trailer Angle Estimation Using Radar Point Clouds

Experimental Apparatus and Data Collection:
Two radars and a camera are installed in the taillight fixtures and at the rear gate of a truck mock-up, respectively. A flatbed trailer is rotated about the truck's hitch ball. The ground truth measurements of the trailer's rotation are measured with a rotary motion sensor installed at the hitch ball. Multisensor data (detections from both radars, camera images, and the ground truth trailer angle measurements) is collected during the trailer's rotation.

The radar detections are used to estimate the trailer's rotation in [1].

These two MATLAB programs are also provided.
1. A visualizer of the multisensor data as the trailer rotates.
2. An implementation of a trailer angle estimation algorithm that uses only the radar detections from the dataset. The program is provided to reproduce the results reported in [1].

The dataset and the algorithm's implementation do not represent a particular standard or certification by the project's sponsor.

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[1] Kunle T. Olutomilayo, Mojtaba Bahramgiri, Saeid Nooshabadi, JinHyoung Oh, Mohsen Lakehal-Ayat, Douglas Rogan, Daniel R. Fuhrmann, Trailer Angle Estimation Using Radar Point Clouds, Signal Processing (2021), doi: https://doi.org/10.1016/j.sigpro.2021.108221