论文标题
非结构化动态铁路环境中的光导航
Optical Navigation in Unstructured Dynamic Railroad Environments
论文作者
论文摘要
我们提出了一种在非结构化的动态铁路环境中进行光学导航的方法。我们提出了一种如何应对从平面轨道床唯一观察到的火车运动估计的方法。在火车运行过程中，偶尔会产生明显的阻塞，将可用的观察结果限制为难以跟踪的重复区域。这种方法是朝着替代昂贵的火车管理基础设施迈出的一步，并在Smartrail 4.0的火车上进行了本地情报。 我们得出了在这种困难环境中对翻译和旋转的强大估计的方法，并在实际轨道场景上对方法进行了实验验证。
We present an approach for optical navigation in unstructured, dynamic railroad environments. We propose a way how to cope with the estimation of the train motion from sole observations of the planar track bed. The occasional significant occlusions during the operation of the train limit the available observation to this difficult to track, repetitive area. This approach is a step towards replacement of the expensive train management infrastructure with local intelligence on the train for SmartRail 4.0. We derive our approach for robust estimation of translation and rotation in this difficult environments and provide experimental validation of the approach on real rail scenarios.
