Research Article
Laser-Based Obstacle Detection at Railway Level Crossings
Table 1
System’s partial average timings.
| Processing step | Section | Phase | Duration |
| Point cloud acquisition | 2.2 | Both | 5000 ms | Level crossing’s pose estimation | 2.3 | Offline | 1930 ms | Railway’s pose estimation | 2.4 | Offline | 574 ms | Training | 2.7 | Offline | 210 ms | Region of interest segmentation | 2.6 | Online | 515 ms | Obstacle detection | 2.8 | Online | 100 ms |
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