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http://hdl.handle.net/10071/12320
acessibilidade
Title: Laser-based obstacle detection at railway level crossings
Authors: Amaral, V.
Marques, F.
Lourenço, A.
Barata, J.
Santana, P.
Issue Date: 2016
Publisher: Hindawi Publishing Corp
Abstract: 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.
Peer reviewed: yes
URI: http://hdl.handle.net/10071/12320
DOI: 10.1155/2016/1719230
ISSN: 1687-725X
Ciência-IUL: https://ciencia.iscte-iul.pt/id/ci-pub-29307
Accession number: WOS:000373504200001
Appears in Collections:IT-RI - Artigo em revista internacional com arbitragem científica

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