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RailSLAM - Localization of Rail Vehicles and Mapping of Geometric Railway Tracks

Heirich, Oliver and Robertson, Patrick and Strang, Thomas (2013) RailSLAM - Localization of Rail Vehicles and Mapping of Geometric Railway Tracks. In: 2013 IEEE International Conference on Robotics and Automation (ICRA). ICRA 2013, 6.-10. Mai 2013, Karlsruhe, Deutschland.

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Official URL: http://www.icra2013.org

Abstract

The avoidance of train collisions is vital for human safety in railway transportation. Technical approaches are general train control or collision avoidance systems as well as semi-automated or fully autonomous trains. These systems rely on robust and exact train localization as well as an accurate map of the track network. We present Simultaneous Localization and Mapping relying exclusively on train-side sensors. RailSLAM, implemented as a probabilistic filter, uses measurements from multiple sensors and computes a track map. We rely heavily on sensors that are not affected by the harsh environmental conditions often experienced in this application, in particular a low-cost MEMS Inertial Measurement Unit (IMU). Rail vehicle localization methods based on these sensors require a dedicated map with detailed geometric track features in combination with the topological track connections. If this feature map does not exist apriori, it needs to be created. If it does, it may suffer from incompleteness, insufficient accuracy or outdated information. RailSLAM addresses the creation and maintenance of this special track map by a simultaneous estimation of the probabilistic geometric-topological feature-rich track map and the train state. A first proof of concept implementation of mapping is given based on the use of an Extended Kalman Filter with measurements from Global Navigation Satellite System (GNSS) and an IMU.

Item URL in elib:https://elib.dlr.de/77545/
Document Type:Conference or Workshop Item (Speech, Poster)
Additional Information:Note: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
Title:RailSLAM - Localization of Rail Vehicles and Mapping of Geometric Railway Tracks
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Heirich, Oliveroliver.heirich (at) dlr.dehttps://orcid.org/0000-0001-5191-5997
Robertson, Patrickpatrick.robertson (at) dlr.deUNSPECIFIED
Strang, Thomasthomas.strang (at) dlr.deUNSPECIFIED
Date:6 May 2013
Journal or Publication Title:2013 IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:SLAM, Railway track map, train navigation, probabilistic map, geometric topological map
Event Title:ICRA 2013
Event Location:Karlsruhe, Deutschland
Event Type:international Conference
Event Dates:6.-10. Mai 2013
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Next Generation Railway System II (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Heirich, Oliver
Deposited On:14 May 2013 11:42
Last Modified:31 Jul 2019 19:37

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