公开(公告)号：US20240034372A1

公开(公告)日：2024-02-01

申请号：US18256957

申请日：2021-08-26

申请人： Siemens Mobility GmbH

发明人： Benjamin Hartmann ,  Benoit Bleuze ,  Albi Sema ,  Irina Vidal Migallon ,  San-Yu Huang ,  Christoph Reinbothe

IPC分类号： B61L23/04 ,  B61L15/00 ,  G06V10/774 ,  G06V10/10 ,  G06V10/82 ,  G06V20/58 ,  G06V10/26 ,  G06T7/50

CPC分类号： B61L23/041 ,  B61L15/0072 ,  G06V10/774 ,  G06V10/16 ,  G06V10/82 ,  G06V20/58 ,  G06V10/26 ,  G06T7/50 ,  G06T2207/30261 ,  G06T2207/20081 ,  G06T2207/20084

摘要： A method creates a training data set for optical railway detection with integrated obstacle detection. The method includes the following steps of: providing first images of railways for rail vehicles, each first image having a representation of a railway; providing second images of objects, each second image containing a representation of at least one object; combining the first and second images; and generating third images containing the combined first and second images. Each third image contains a representation of a railway with at least one object, and a number of the third images forming the training data set for the optical railway detection with integrated obstacle detection.

公开(公告)号：US20240326883A1

公开(公告)日：2024-10-03

申请号：US18574098

申请日：2022-04-06

申请人： Siemens Mobility GmbH

发明人： San-Yu Huang ,  Benjamin Hartmann ,  Irina Vidal Migallon

IPC分类号： B61L23/04 ,  B61L15/00 ,  G06V20/58

CPC分类号： B61L23/041 ,  B61L15/0072 ,  G06V20/58

摘要： A method for detecting obstacles for a rail vehicle includes capturing 3D image data from an area surrounding the rail vehicle and generating 2D image data from the 3D image data. Rails are detected and localized in the 2D image data. Depth data are determined in the 2D image data based on the 3D image data. The 2D image data are divided into linear image segments, each having a rail section with a constant depth. A depth value of a pixel of a linear image segment outside the rails is then compared with the respective depth value of the rails. If the difference between the depth value of the pixel and the depth value of the rails exceeds a threshold value, the pixel is part of an object projecting above the level of the terrain. Depending on its position and/or movement, the object is considered a potential collision obstacle.