METHOD FOR VISUAL LOCALIZATION OF URBAN RAIL TRANSPORT BASED ON KALMAN PARTICLE FILTERS AND MAPPING DATA Russian patent published in 2023 - IPC G01C21/30 

FIELD: urban rail transport.

SUBSTANCE: invention is proposed for visual localization of urban rail transport. The essence of the invention is that an original image is obtained from a camera installed on a vehicle, the original image is aligned using information about the camera position, then the aligned original image is cropped, then the image is segmented using a neural network in order to find static objects on it, then histograms of angles to static objects segmented in the image are generated and using a particle filter the position of a large number of particles of the expected location and orientation of the object is generated, at the final stage, using information about the expected location of the object and available information about the location of landmarks at the site, the location of the object is determined based on Kalman filter by combining GPS and odometer data.

EFFECT: increasing the accuracy of determining the position of a rail vehicle in space while making it possible to reduce the requirements for the computing power of the positioning system as a part of the vehicle.

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