Accurate vehicle pose estimation is important for many modern applications, such as autonomous driving, advanced driver assistance systems, and infrastructure based vehicle tracking. In situations where satellite-based systems like GNSS are unreliable, especially in urban environments, roadside sensors can provide a valid alternative. This thesis presents a system that uses two stationary 3D scanners placed at the roadside to estimate the pose of passing vehicles by capturing side views of the wheels. The system is flexible and can be used in various applications, including smart mobility within Internet of Things (IoT) infrastructures, infrastructure-assisted localization, vehicle monitoring, and inspection. One of the main challenges is the placement of the sensors.