鉄道車両向け視覚援用オドメトリ手法の実験比較
Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles
鉄道車両の高精度な位置・速度推定に向けて、視覚および視覚慣性オドメトリの複数手法を産業・郊外・森林環境のデータでRTK-GPSと比較評価した。
著者: Florian Tschopp, Thomas Schneider, Andrew W. Palmer, Navid Nourani-Vatani, Cesar Cadena, Roland Siegwart, Juan Nieto
分類: cs.RO
原文アブストラクト
Today, rail vehicle localization is based on infrastructure-side Balises (beacons) together with on-board odometry to determine whether a rail segment is occupied. Such a coarse locking leads to a sub-optimal usage of the rail networks. New railway standards propose the use of moving blocks centered around the rail vehicles to increase the capacity of the network. However, this approach requires accurate and robust position and velocity estimation of all vehicles. In this work, we investigate the applicability, challenges and limitations of current visual and visual-inertial motion estimation frameworks for rail applications. An evaluation against RTK-GPS ground truth is performed on multiple datasets recorded in industrial, sub-urban, and forest environments. Our results show that stereo visual-inertial odometry has a great potential to provide a precise motion estimation because of its complementing sensor modalities and shows superior performance in challenging situations compared to other frameworks.
