2026-04-18T01:17:37Zhttps://ebiltegia.mondragon.edu/oai/request

oai:ebiltegia.mondragon.edu:20.500.11984/69492025-04-11T06:15:29Zcom_20.500.11984_1143col_20.500.11984_1148

Monocular visual odometry for underground railway scenarios Etxeberria Garcia, Mikel Labayen, Mikel Eizaguirre, Fernando Zamalloa, Maider Arana-Arexolaleiba, Nestor computer vision Rail transportation Deep learning Artifi cial intelligence Autonomous train In this paper, the application of monocular Visual Odometry (VO) solutions for underground train stopping operation are explored. In order to analyze if the application of monocular VO solutions in challenging environments as underground railway scenarios is viable, di erent VO architectures are selected. For that, the state of the art of deep learning based VO approaches is analyzed. Four categories can be de ned in the VO approaches de ned in the last few years: (1) supervised pure deep learning based solutions; (2) solutions combining geometric features and deep learning; (3) solutions combining inertial sensors and deep learning; and (4) unsupervised deep learning solutions. A dataset composed of underground train stop operations was also created, where the ground truth is labeled according to the onboard unit SIL-4 ERTMS/ETCS odometry data. The dataset was recorded by using a camera installed in front of the train. Preliminary experimental results demonstrate that deep learning based VO solutions are applicable in underground train stop operations. 2025-04-10T08:07:28Z 2025-04-10T08:07:28Z 2021 http://purl.org/coar/resource_type/c_c94f 9781510644274 1996-756X https://katalogoa.mondragon.edu/janium-bin/janium_login_opac.pl?find&ficha_no=167320 https://hdl.handle.net/20.500.11984/6949 eng SPIE