相关论文: Train-borne Localization Exploiting Track-Geometry…

In this paper, we present a method to generate compact geometric track-maps for train-borne localization applications. Therefore, we first give a brief overview on the purpose of track maps in train-positioning applications. It becomes…

This work presents two complementary real-time rail vehicle localization methods based on magnetic field measurements and a pre-recorded magnetic map. The first uses a particle filter reweighted via magnetic similarity, employing a…

This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance…

Track geometry monitoring is essential for maintaining the safety and efficiency of railway operations. While Track Recording Cars (TRCs) provide accurate measurements of track geometry indicators, their limited availability and high…

Context Progresses in GNSS-based solution introduction in rail applications GNSS (Global Navigation Satellite System) is now used in most of our travels and each of our smartphone apps. Most of the usages are not safety-critical. But Europe…

We study positioning of high-speed trains in 5G new radio (NR) networks by utilizing specific NR synchronization signals. The studies are based on simulations with 3GPP-specified radio channel models including path loss, shadowing and fast…

Intelligent data-driven monitoring procedures hold enormous potential for ensuring safe operation and optimal management of the railway infrastructure in the face of increasing demands on cost and efficiency. Numerous studies have shown…

Train localization during Global Navigation Satellite Systems (GNSS) outages presents challenges for ensuring failsafe and accurate positioning in railway networks. This paper proposes a minimalist approach exploiting track geometry and…

Precise and real-time rail vehicle localization as well as railway environment monitoring is crucial for railroad safety. In this letter, we propose a multi-LiDAR based simultaneous localization and mapping (SLAM) system for railway…

This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…

Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train…

Traditional tracking-by-detection systems typically employ Kalman filters (KF) for state estimation. However, the KF requires domain-specific design choices and it is ill-suited to handling non-linear motion patterns. To address these…

Today, rail vehicle localization is based on infrastructure-side Balises (beacons) together with on-board odometry to determine whether a rail segment is occupied. Such a coarse locking leads to a sub-optimal usage of the rail networks. New…

The Kalman filter (KF) is a widely-used algorithm for tracking dynamic systems that are captured by state space (SS) models. The need to fully describe a SS model limits its applicability under complex settings, e.g., when tracking based on…

The railway industry is searching for new ways to automate a number of complex train functions, such as object detection, track discrimination, and accurate train positioning, which require the artificial perception of the railway…

Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…

Intraoperative tracking of surgical instruments is an inevitable task of computer-assisted surgery. An optical tracking system often fails to precisely reconstruct the dynamic location and pose of a surgical tool due to the acquisition…

Robustness and safety are crucial properties for the real-world application of autonomous vehicles. One of the most critical components of any autonomous system is localisation. During the last 20 years there has been significant progress…

Accurate, real-time crowd counting on railway platforms is essential for safety and capacity management. We propose to use a single camera mounted in a train, scanning the platform while arriving. While hardware constraints are simple,…

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)…