US 12,079,721 B2
Method and system for railway obstacle detection based on rail segmentation
Sagi Dolberg, Hod Hasharon (IL); Natalie Day, Kfar Yona (IL); Michael Levy, Modiin (IL); Avishay Alfandary, Tel-Aviv (IL); Avraham Ram Guissin, Beit Yanai (IL); Sharon Bason, Rosh Haayin (IL); Zohar Zeev Shechter, Rehovot (IL); Shahar Hania, Kedumim (IL); and Yotam Azriel, Tel-Aviv (IL)
Assigned to RAIL VISION LTD., Ra'anana (IL)
Appl. No. 17/258,446
Filed by RAIL VISION LTD, Ra'anana (IL)
PCT Filed Jul. 10, 2019, PCT No. PCT/IL2019/050770
§ 371(c)(1), (2) Date Jan. 7, 2021,
PCT Pub. No. WO2020/012475, PCT Pub. Date Jan. 16, 2020.
Claims priority of provisional application 62/695,901, filed on Jul. 10, 2018.
Prior Publication US 2021/0279488 A1, Sep. 9, 2021
Int. Cl. G06N 3/08 (2023.01); B61L 23/04 (2006.01); G06F 18/214 (2023.01); G06N 3/04 (2023.01); G06T 7/11 (2017.01); G06V 10/764 (2022.01); G06V 20/58 (2022.01)
CPC G06N 3/08 (2013.01) [B61L 23/041 (2013.01); G06F 18/214 (2023.01); G06N 3/04 (2013.01); G06T 7/11 (2017.01); G06V 10/764 (2022.01); G06V 20/58 (2022.01); G06T 2207/10048 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method of rails and obstacles detection, the method comprising:
receiving a plurality of image frames from at least one imaging sensor installed on a locomotive of a train, wherein the at least one imaging sensor facing a direction of travel of the train;
determining, for each image frame of a subset of the plurality of image frames, an input data structure comprising the respective image frame and a history element, wherein the history element comprises a segmentation mask prediction determined for an image frame preceding to the respective image frame; and
determining, based on the input data structure of each of the image frames of the subset and using a rails and switches states detection neural network (RSSD NN), a segmentation mask prediction of the respective image frame, wherein the segmentation mask prediction comprises at least a current railway path along which the train travels.