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Mind the Hitch: Dynamic Calibration and Articulated Perception for Autonomous Trucks

March 2026 Morui Zhu, Yongqi Zhu, Song Fu, Qing Yang IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026
#Autonomous Driving #Perception #Calibration

Autonomous trucking poses unique perception challenges due to articulated tractor-trailer geometry and time-varying sensor poses caused by the fifth-wheel joint and trailer flex. We propose dCAP (dynamic Calibration and Articulated Perception), a vision-based framework that continuously estimates the 6-DoF relative pose between tractor and trailer cameras using a transformer with cross-view and temporal attention. Integrated with BEVFormer, dCAP improves 3D object detection by replacing static calibration with dynamically predicted extrinsics. We also introduce STT4AT, a CARLA-based benchmark simulating semi-trailer trucks with synchronized multi-sensor suites and time-varying inter-rig geometry across diverse environments.