3D-LIDAR based object detection and tracking on the edge of IoT for railway level crossing
Identifiers
Permanent link (URI): http://hdl.handle.net/10017/60512DOI: 10.1109/ACCESS.2021.3062220
ISSN: 2169-3536
Publisher
IEEE
Date
2021-02-24Funders
European Commission
Bibliographic citation
C. Wisultschew, G. Mujica, J. M. Lanza-Gutierrez and J. Portilla, "3D-LIDAR Based Object Detection and Tracking on the Edge of IoT for Railway Level Crossing," in IEEE Access, vol. 9, pp. 35718-35729, 2021.
Project
info:eu-repo/grantAgreement/EC/H2020/737422/EU/Secure Connected Trustable Things/SCOTT
Document type
info:eu-repo/semantics/article
Version
info:eu-repo/semantics/publishedVersion
Publisher's version
https://doi.org/10.1109/ACCESS.2021.3062220Rights
Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
Access rights
info:eu-repo/semantics/openAccess
Abstract
Object detection is an essential technology for surveillance systems, particularly in areas with
a high risk of accidents such as railway level crossings. To prevent future collisions, the system must detect
and track any object that passes through the monitored area with high accuracy, and this process must
be performed fulfilling real-time specifications. In this work, an edge IoT HW platform implementation
capable of detecting and tracking objects in a railway level crossing scenario is proposed. The response
of the system has to be calculated and sent from the proposed IoT platform to the train, so as to trigger
a warning action to avoid a possible collision. The system uses a low-resolution 3D 16-channel LIDAR
as a sensor that provides an accurate point cloud map with a large amount of data. The element used to
process the information is a custom embedded edge platform with low computing resources and low-power
consumption. This processing element is located as close as possible to the sensor, where data is generated to
improve latency, privacy, and avoid bandwidth limitations, compared to performing processing in the cloud.
Additionally, lightweight object detection and tracking algorithm is proposed in this work to process a large
amount of information provided by the LIDAR, allowing to reach real-time specifications. The proposed
method is validated quantitatively by carrying out implementation on a car road, emulating a railway level
crossing.
Files in this item
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3D_LIDAR_IEEE_Access_2021.pdf | 2.459Mb |
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3D_LIDAR_IEEE_Access_2021.pdf | 2.459Mb |
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