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Laser-Based Obstacle Detection at Railway Level Crossings
Joint Authors
Amaral, Vítor
Marques, Francisco
Lourenço, André
Barata, José
Santana, Pedro
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-24
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This paper presents a system for obstacle detection in railway level crossings from 3D point clouds acquired with tilting 2D laser scanners.
Although large obstacles in railway level crossings are detectable with current solutions, the detection of small obstacles remains an open problem.
By relying on a tilting laser scanner, the proposed system is able to acquire highly dense and accurate point clouds, enabling the detection of small obstacles, like rocks laying near the rail.
During an offline training phase, the system learns a background model of the level crossing from a set of point clouds.
Then, online, obstacles are detected as occupied space contrasting with the background model.
To reduce the need for manual on-site calibration, the system automatically estimates the pose of the level crossing and railway with respect to the laser scanner.
Experimental results show the ability of the system to successfully perform on a set of 41 point clouds acquired in an operational one-lane level crossing.
American Psychological Association (APA)
Amaral, Vítor& Marques, Francisco& Lourenço, André& Barata, José& Santana, Pedro. 2016. Laser-Based Obstacle Detection at Railway Level Crossings. Journal of Sensors،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1110336
Modern Language Association (MLA)
Amaral, Vítor…[et al.]. Laser-Based Obstacle Detection at Railway Level Crossings. Journal of Sensors No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1110336
American Medical Association (AMA)
Amaral, Vítor& Marques, Francisco& Lourenço, André& Barata, José& Santana, Pedro. Laser-Based Obstacle Detection at Railway Level Crossings. Journal of Sensors. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1110336
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110336