We have designed and implemented an accurate and robust obstacle detection system for use in the environment of an underpass tunnel. The system plans the collision area in front of the train through real-time location and mapping. The system is based on the IMU centered state estimator, which closely combines light detection and ranging (LIDAR), vision and inertial information with loosely coupled methods. The framework consists of three sub modules. Inertial measurement unit is regarded as the main sensor, which realizes the observation of LIDAR-inertial odometry and visual-inertial odometry to restrict the deviation of accelerometer and gyroscope. Compared with the previous pure point method, our method uses more geometric information by introducing line and plane features into motion estimation and using lines and points to utilize the environmental structure information.Object detection uses a combination of deep learning and point cloud clustering. Deep learning uses the projection of 3D information to 2D. As opposed to previous object detection, we put more emphasis on detecting the object and getting the spatial location of the object.Our system was experimented on a subway test line that is currently in use. The experimental results show that the system has some accuracy and stability in It may be able to play a crucial role in the safety of driverless subways in the future.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Subway Obstacle Detection System Based on Multi-sensor Data Fusion


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Xue, Dan (Autor:in) / Zhou, Mingyu (Autor:in) / Feng, Rui (Autor:in) / Lu, Xinfei (Autor:in) / Bai, Xuebing (Autor:in)

    Kongress:

    SAE 2022 Intelligent and Connected Vehicles Symposium ; 2022



    Erscheinungsdatum :

    22.12.2022




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Subway Obstacle Detection System Based on Multi-sensor Data Fusion

    Bai, Xuebing / Xue, Dan / Zhou, Mingyu et al. | British Library Conference Proceedings | 2022


    Obstacle detection system based on multi-sensor fusion

    ZHAO XUDONG / JIAO YUELI / CHANG NAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Subway Obstacle Detection System Based on Machine Vision

    Lu, Taotao / Geng, Chenge / Dai, Honghui | TIBKAT | 2022


    Subway Obstacle Detection System Based on Machine Vision

    Lu, Taotao / Geng, Chenge / Dai, Honghui | Springer Verlag | 2022


    Subway Obstacle Detection System Based on Machine Vision

    Lu, Taotao / Geng, Chenge / Dai, Honghui | British Library Conference Proceedings | 2022