Laser-Based Obstacle Detection at Railway Level Crossings

Figure 9

An illustrative representation of the rails search from two points laid on the rails’ middle axis rough approximation, . The search direction is represented by the white arrows. The unfilled circles represent the four points found on the rails as a result of the search and, thus, that defines the estimated rails’ lines and . These two lines represent more accurately the railway’s middle axis than the first approximation .