Title | A vision-based approach for tramway rail extraction |
Publication Type | Miscellaneous |
Year of Publication | 2015 |
Authors | Zwemer, MH, van de Wouw, DWJM, Jaspers, EGT, Zinger, S, de With, PHN |
Abstract | The growing traffic density in cities fuels the desire for collision assessment systems on public transportation. For this application, video analysis is broadly accepted as a cornerstone. For trams, the localization of tramway tracks is an essential ingredient of such a system, in order to estimate a safety margin for crossing traffic participants. Tramway-track detection is a challenging task due to the urban environment with clutter, sharp curves and occlusions of the track. In this paper, we present a novel and generic system to detect the tramway track in advance of the tram position. The system incorporates an inverse perspective mapping and a-priori geometry knowledge of the rails to find possible track segments. The contribution of this paper involves the creation of a new track reconstruction algorithm which is based on graph theory. To this end, we define track segments as vertices in a graph, in which edges represent feasible connections. This graph is then converted to a max-cost arborescence graph, and the best path is selected according to its location and additional temporal information based on a maximum a-posteriori estimate. The proposed system clearly outperforms a railway-track detector. Furthermore, the system performance is validated on 3,600 manually annotated frames. The obtained results are promising, where straight tracks are found in more than 90% of the images and complete curves are still detected in 35% of the cases. |
URL | http://dx.doi.org/10.1117/12.2075641 |
DOI | 10.1117/12.2075641 |
A vision-based approach for tramway rail extraction
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