Related papers: Path-Constrained State Estimation for Rail Vehicle…
In this study, we explore the use of Convolutional Neural Networks for improving train speed estimation accuracy, addressing the complex challenges of modern railway systems. We investigate three CNN architectures - single-branch 2D,…
Railway transportation is the artery of China's national economy and plays an important role in the development of today's society. Due to the late start of China's railway security inspection technology, the current railway security…
We present RailLoMer in this article, to achieve real-time accurate and robust odometry and mapping for rail vehicles. RailLoMer receives measurements from two LiDARs, an IMU, train odometer, and a global navigation satellite system (GNSS)…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…
Rail detection, essential for railroad anomaly detection, aims to identify the railroad region in video frames. Although various studies on rail detection exist, neither an open benchmark nor a high-speed network is available in the…
Accurate estimation of the traffic state over a network is essential since it is the starting point for designing and implementing any traffic management strategy. Hence, traffic operators and users of a transportation network can make…
The use of GNSS in the railway sector has been postulated on the notion of a Virtual Balise (VB). The VB-based positioning system works by setting a VB point on the railway track and determining the passage of the VB point using the…
In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…
Autonomous vehicles and mobile robotic systems are typically equipped with multiple sensors to provide redundancy. By integrating the observations from different sensors, these mobile agents are able to perceive the environment and estimate…
Intersection scenarios provide the most complex traffic situations in Autonomous Driving and Driving Assistance Systems. Knowing where to stop in advance in an intersection is an essential parameter in controlling the longitudinal velocity…
Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…
This document describes the theory used for the calculation of track geometric irregularities on a Track Geometry Measuring System (TGMS) to be installed in railway vehicles. The TGMS includes a computer for data acquisition and process, a…
With the railway transportation Industry moving actively towards automation, accurate location and inventory of wayside track assets like traffic signals, crossings, switches, mileposts, etc. is of extreme importance. With the new Positive…
Railway systems require regular manual maintenance, a large part of which is dedicated to inspecting track deformation. Such deformation might severely impact trains' runtime security, whereas such inspections remain costly for both finance…
The upcoming roll-out of the new wireless communication standard for wireless railway services, FRMCS, requires a thorough understanding of the system performance in real-world conditions, since this will strongly influence the deployment…
The wheel of the train is a 3D revolving geometrical structure. Reconstructing the normal section profile is an effective approach to determine the critical geometric parameter and wear of the wheel in the community of railway safety. The…
Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…
Robotic underwater systems, e.g., Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for collecting biogeochemical data at the ice-water interface for scientific advancements. However, state…
Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…
Accurate rail location is a crucial part in the railway support driving system for safety monitoring. LiDAR can obtain point clouds that carry 3D information for the railway environment, especially in darkness and terrible weather…