A method for detecting obstacles for a rail vehicle includes capturing 3D image data from an area surrounding the rail vehicle and generating 2D image data from the 3D image data. Rails are detected and localized in the 2D image data. Depth data are determined in the 2D image data based on the 3D image data. The 2D image data are divided into linear image segments, each having a rail section with a constant depth. A depth value of a pixel of a linear image segment outside the rails is then compared with the respective depth value of the rails. If the difference between the depth value of the pixel and the depth value of the rails exceeds a threshold value, the pixel is part of an object projecting above the level of the terrain. Depending on its position and/or movement, the object is considered a potential collision obstacle.


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    Title :

    HINDERNISDETEKTION IM GLEISBEREICH AUF BASIS VON TIEFENDATEN


    Additional title:

    OBSTACLE DETECTION IN THE TRACK AREA ON THE BASIS OF DEPTH DATA
    DÉTECTION D'OBSTACLES DANS LA ZONE DE VOIE SUR LA BASE DE DONNÉES DE PROFONDEUR


    Contributors:

    Publication date :

    2023-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    German


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / G06V



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    HARTMANN BENJAMIN / HUANG SAN-YU / VIDAL MIGALLON IRINA | European Patent Office | 2022

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