A method for pose estimation, implemented on at least one machine including at least one processor, memory, and communication platform capable of connecting to a network, the method comprising: obtaining at least a dimension of a trailer connected to a vehicle, wherein the vehicle and the trailer have respective opposing surfaces facing one another; identifying a first set of feature points from a first image of a target disposed on a first surface of the opposing surfaces acquired at a first time instant by a sensor deployed on a second surface of the opposing surfaces; identifying a second set of feature points from a second image of the target acquired at a second time instant by the sensor, wherein each feature point from the second set of feature points corresponds to a feature point from the first set of feature points; determining, based on the first set of feature points and the second set of feature points, a first transformation of the sensor, the first transformation of the sensor including a rotation of the sensor with respect to the first surface of the opposing surfaces from the first time instant to the second time instant and a translation of the sensor with respect to the first surface of the opposing surfaces from the first time instant to the second time instant; determining a second transformation that the trailer undergoes from the first time instant to the second time instant in accordance with the first transformation, the second transformation including a rotation of at least one point of the trailer and a translation of the at least one point of the trailer from the first time instant to the second time instant; and estimating, for autonomous driving of the vehicle, a pose of the trailer at the second time instant based on the second transformation and the dimension. obtaining at least a dimension of a trailer connected to a vehicle, wherein the vehicle and the trailer have respective opposing surfaces facing one another; identifying a first set of feature points from a first image of a target disposed on a first surface of the opposing surfaces acquired at a first time instant by a sensor deployed on a second surface of the opposing surfaces; identifying a second set of feature points from a second image of the target acquired at a second time instant by the sensor, wherein each feature point from the second set of feature points corresponds to a feature point from the first set of feature points; determining, based on the first set of feature points and the second set of feature points, a first transformation of the sensor, the first transformation of the sensor including a rotation of the sensor with respect to the first surface of the opposing surfaces from the first time instant to the second time instant and a translation of the sensor with respect to the first surface of the opposing surfaces from the first time instant to the second time instant; determining a second transformation that the trailer undergoes from the first time instant to the second time instant in accordance with the first transformation, the second transformation including a rotation of at least one point of the trailer and a translation of the at least one point of the trailer from the first time instant to the second time instant; and estimating, for autonomous driving of the vehicle, a pose of the trailer at the second time instant based on the second transformation and the dimension.