Laser-Based Obstacle Detection at Railway Level Crossings

Figure 6

The several objects detected when searching for the HB in the same point cloud as the one depicted in Figure 5 (view aligned with the railway). The coloured spheres on top of arrows represent the centroid of each detected object and the unfilled circles at the starting points of the associated arrows correspond to the projection of the centroids on the ground plane. Note that only the objects detected in left hand side of the figure correspond to the actual HB.