English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Precise and real-time rail vehicle localization as well as railwayenvironment monitoring is crucial for railroad safety. In this letter, wepropose a multi-LiDAR based simultaneous localization and mapping (SLAM) systemfor railway applications. Our approach starts with measurements preprocessingto denoise and synchronize multiple LiDAR inputs. Different frame-to-frameregistration methods are used according to the LiDAR placement. In addition, weleverage the plane constraints from extracted rail tracks to improve the systemaccuracy. The local map is further aligned with global map utilizing absoluteposition measurements. Considering the unavoidable metal abrasion and screwloosening, online extrinsic refinement is awakened for long-during operation.The proposed method is extensively verified on datasets gathered over 3000 km.The results demonstrate that the proposed system achieves accurate and robustlocalization together with effective mapping for large-scale environments. Oursystem has already been applied to a freight traffic railroad for monitoringtasks.

Simultaneous Location of Rail Vehicles and Mapping of Environment with Multiple LiDARs