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

Claim 12:
13. An obstacle detection facility, comprising:
a sensor data interface for receiving 3D sensor data from a surrounding area of a rail vehicle;
an image-generating unit connected to receive the 3D sensor data and configured for generating 3D image data on a basis of the 3D sensor data;
a projection unit connected to receive the 3D image data and configured for generating 2D image data on a basis of the 3D image data;
a mask-generating unit configured for generating a 2D anomaly mask by comparing the 2D image data with reference image data that is free of a collision obstacle, and identifying an image region as a mask region in the 2D image data which differs from a corresponding image region in the reference image data;
a fusion unit configured for generating a 3D anomaly mask in the 3D image data by fusing the 2D anomaly mask with the 3D image data; and
an obstacle-ascertaining unit configured for identifying the 3D image data encompassed by the 3D anomaly mask as a possible collision obstacle.