Camera monitor system for commercial vehicles including wheel position estimation

A method for estimating a trailer wheel position of a vehicle with a camera monitor system, comprising:

• identifying a first set of wheel locations of one or more wheels of the vehicle in at least a first image, each of the wheel locations in the first set of wheel locations being associated with a corresponding trailer angle;
• identifying a subset of wheel locations in the first set of wheel locations as being false positives and removing the false positives from the first set of wheel locations;
• applying a quadratic regression to the first set of wheel locations and determining a parabola curve relating a y position in the at least the first image to an x position in the at least the first image;
• determining a trailer angle;
• estimating a current wheel location of the one or more wheels by applying the determined trailer angle to the parabola curve;
• and
• modifying a displayed image depicted on a display of the vehicle in response to the estimated current wheel location.