Patent ID: 11945479
Assignee: SIEMENS MOBILITY GMBH
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method of obstacle detection for a rail vehicle, the method comprising:
capturing 3D sensor data from a surrounding area of the rail vehicle;
generating 3D image data based on the 3D sensor data;
generating 2D image data based on the 3D image data;
generating a 2D anomaly mask by comparing the 2D image data with reference image data that is free of a collision obstacle, wherein an image region is identified as a mask region in the 2D image data which differs from a corresponding image region in the reference image data;
generating a 3D anomaly mask in the 3D image data by fusing the 2D anomaly mask with the 3D image data;
identifying the 3D image data encompassed by the 3D anomaly mask as a possible collision obstacle.