基于激光雷达的铁路轨道检测方法

A railway track detection method using LiDAR

利用激光雷达采集的距离信息,提出一种基于轨道横向与纵向几何特征的轨道检测方法。首先,在激光雷达的单次扫描数据中,根据轨道对周围环境的遮挡特性及高度跳变,完成对可能的轨顶关键点的检测;其次,构建轨道横截面模型,通过模型匹配的方式剔除前期的误检并确定最终轨道位置;最后,考虑轨道的纵向连续性和单轨之间的轨距、平行性特征,对轨顶检测点间进行关联形成轨道区段。研究结果表明:纵向单轨聚类及轨道横向关联可显著减少错误检测,最终轨道检测召回率为83.0%~97.5%,准确率为93.3%~97.9%。

A track detection method based on the lateral and longitudinal geometric features was proposed using the distance information recorded by a LiDAR sensor.Firstly,within a single scan,the possible rail head key points were detected on the basis of the background occlusion caused by rails and the height jump of rails.Then a rail profile model was built by model matching with which the false positives were eliminated and the positions of the rails were determined.Eventually,considering the longitudinal continuity of tracks and checking the gauge and parallelism between rails,the rail head key points were associated to form track sections.The results show that the longitudinal rail clustering and the lateral track association can decrease the false positives remarkably.The final recall of the track detection is 83.0%-97.5% while the precision is 93.3%-97.9%.