Geometric augmentation of topological track atlas for localization

Abstract

In automotive domain localization is typically performed through fusion of observations e.g. GPS positions and roadmaps. A transfer of these strategies to rail vehicle positioning is often impossible, because geometric track maps are not available. Key focus of this contribution is the enlargement of given topological track maps with geometric features, to enable a map-assisted rail vehicle localization based on geometric measurements. Initially we compute the optimal path within the track topology based on local track features that are measured with an eddy current sensor system. Then we process noisy INS positions and estimate the geometric shape of the map segments the measurement train has passed. Finally we augment the corresponding segments with geometric information. The proposed method is validated on real data in a real railway scenario.