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