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

Heirich, Oliver und Robertson, Patrick und 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. doi: 10.1109/ICRA.2013.6631322.

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

Kurzfassung

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 If it does, it may suffer from incompleteness, insufficient accuracy or outdated information.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.

elib-URL des Eintrags:https://elib.dlr.de/77545/
Dokumentart:Konferenzbeitrag (Vortrag, Poster)
Zusätzliche Informationen: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.
Titel:RailSLAM - Localization of Rail Vehicles and Mapping of Geometric Railway Tracks
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Heirich, Oliveroliver.heirich (at) dlr.dehttps://orcid.org/0000-0001-5191-5997NICHT SPEZIFIZIERT
Robertson, Patrickpatrick.robertson (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Strang, Thomasthomas.strang (at) dlr.dehttps://orcid.org/0009-0000-1313-4751NICHT SPEZIFIZIERT
Datum:6 Mai 2013
Erschienen in:2013 IEEE International Conference on Robotics and Automation (ICRA)
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Ja
DOI:10.1109/ICRA.2013.6631322
Status:veröffentlicht
Stichwörter:SLAM, Railway track map, train navigation, probabilistic map, geometric topological map
Veranstaltungstitel:ICRA 2013
Veranstaltungsort:Karlsruhe, Deutschland
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:6.-10. Mai 2013
Veranstalter :IEEE
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Verkehr
HGF - Programmthema:Verkehrsmanagement (alt)
DLR - Schwerpunkt:Verkehr
DLR - Forschungsgebiet:V VM - Verkehrsmanagement
DLR - Teilgebiet (Projekt, Vorhaben):V - Next Generation Railway System II (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Kommunikation und Navigation > Nachrichtensysteme
Hinterlegt von: Heirich, Dr.-Ing. Oliver
Hinterlegt am:14 Mai 2013 11:42
Letzte Änderung:25 Jul 2023 12:28

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