Laser-Based Obstacle Detection at Railway Level Crossings

Figure 12

Detection results in typical point clouds from the testing data set. The three quadrilaterals correspond to the quadrilaterals that were estimated as defining zones A, B, and C. The grey points correspond to the ground points present in the region of interest. Coloured points are obstacle points (refer to subcaptions for color coding).

(a) 4 persons (red blobs) in zone A

(b) 2 persons (red large blobs) and a basket (smallest red blob) in zone A, a jerrican in zone B (green blob), and another person (blue blob) in zone C

(c) A car’s front (red blob) in zone A

(d) A rock (green blob) near the rail in zone B (a picture of this situation can be depicted in Figure 2(c))