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Automatic Mapping of Center Line of Railway Tracks using Global Navigation Satellite System, Inertial Measurement Unit and Laser Scanner

Shankar, Sangeetha and Roth, Michael Helmut and Schubert, Lucas Andreas and Verstegen, Judith Anne (2020) Automatic Mapping of Center Line of Railway Tracks using Global Navigation Satellite System, Inertial Measurement Unit and Laser Scanner. Remote Sensing. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/rs12030411. ISSN 2072-4292.

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Abstract

Up-to-date geodatasets on railway infrastructure are valuable resources for the field of transportation. This paper investigates three methods for mapping the center lines of railway tracks using heterogeneous sensor data: (i) conditional selection of satellite navigation (GNSS) data, (ii) a combination of inertial measurements (IMU data) and GNSS data in a Kalman filtering and smoothing framework and (iii) extraction of center lines from laser scanner data. Several combinations of the methods are compared with a focus on mapping in tree-covered areas. The center lines of the railway tracks are extracted by applying these methods to a test dataset collected by a road-rail vehicle. The guard rails in the test area were also extracted during the center line detection process. The combination of methods (i) and (ii) gave the best result for the track on which the measurement vehicle had moved, mapping almost 100% of the track. The combination of methods (ii) and (iii) and the combination of all three methods gave the best result for the other parallel tracks, mapping between 25% and 80%. The mean perpendicular distance of the mapped center lines from the reference data was 1.49 meters.

Item URL in elib:https://elib.dlr.de/130641/
Document Type:Article
Title:Automatic Mapping of Center Line of Railway Tracks using Global Navigation Satellite System, Inertial Measurement Unit and Laser Scanner
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Shankar, SangeethaSangeetha.Shankar (at) dlr.dehttps://orcid.org/0000-0003-0387-7740
Roth, Michael HelmutM.Roth (at) dlr.dehttps://orcid.org/0000-0002-4812-346X
Schubert, Lucas AndreasLucas.Schubert (at) dlr.dehttps://orcid.org/0000-0002-5516-5326
Verstegen, Judith Annej.a.verstegen (at) uni-muenster.dehttps://orcid.org/0000-0002-9082-4323
Date:28 January 2020
Journal or Publication Title:Remote Sensing
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.3390/rs12030411
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
ISSN:2072-4292
Status:Published
Keywords:railway tracks; automated mapping; Global Navigation Satellite System; Inertial Measurement Unit; laser scanner; Kalman filter
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Rail Transport
DLR - Research area:Transport
DLR - Program:V SC Schienenverkehr
DLR - Research theme (Project):V - Digitalisierung und Automatisierung des Bahnsystems
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems
Institute of Transportation Systems > Railway System
Deposited By: Shankar, Sangeetha
Deposited On:10 Feb 2020 08:55
Last Modified:12 Jan 2021 13:06

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