Automated vehicles mounted on the rail are widely applied for metro infrastructure inspection and maintenance. However, the long-distance enclosed tunnel environment and severe feature degradation pose significant challenges to accurate vehicle localization. In this paper, we proposed a Metro-Rail-SLAM for automated inspection vehicles. The design path constraints are modeled as a path-aided likelihood model (PA-LM) by applying Kernel Density Estimation from the designed path of construction drawing. Besides, we detected emergency-bays from LiDAR as landmarks. The PA-LM and landmarks together with the odometry are integrated into a particle filter to develop a fast, accurate, and robust SLAM. The proposed models and method were validated with a prototyped inspection robot in an actual metro construction scenario located in Chengdu. Experimental results demonstrate that the proposed Metro-Rail-SLAM has good capability of localization and mapping.


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    Title :

    Metro-Rail-SLAM for Automated Inspection Vehicles with Path-Aided Constraints


    Contributors:
    Feng, Feng (author) / Meng, Jie (author) / Zhang, Jianan (author) / Xiao, Hanbiao (author) / Hu, Zhaozheng (author)


    Publication date :

    2025-06-22


    Size :

    1710867 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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