Rail-BEV: A LiDAR-Centric and Sensor-Aware BEV Perception Framework for Long-Range Railway Obstacle Detection

Reliable long-range onboard perception is a prerequisite for future railway safety systems, where potential obstacles must be recognized under long braking distances, sparse far-field returns, and strongly constrained rail-corridor geometry. This paper presents Rail-BEV as an initial reproducible baseline study for LiDAR-centric, sensor-aware bird’s-eye-view (BEV) railway obstacle perception. LiDAR is used as the primary geometric sensing modality, while a front-center RGB camera provides lightweight auxiliary visual evidence through calibrated LiDAR-to-image projection. The aligned geometric and visual cues are organized within a unified railway-oriented BEV backend that integrates geometry-aware fusion, rail-geometry prediction, and lightweight inference-time structural refinement. Evaluation was conducted on a scene-isolated railway benchmark with range-stratified center-distance matching, and all model variants were assessed on independent test sequences rather than on validation-selected checkpoints. Compared with CenterPoint and BEVFusion baselines evaluated under the same settings, Rail-BEV achieved the highest overall mAP of 0.6669, with particularly improved long-range pedestrian perception. The controlled ablation further shows that front-view RGB evidence improves the LiDAR-only baseline from 0.5612 to 0.5750 mAP, while ROI-based rail-corridor refinement further increases mAP to 0.5916 and Rail-BEV mIoU to 0.1193. These results indicate that LiDAR-centered sensing, lightweight visual assistance, and coarse rail-aware structural reasoning can be jointly organized to support reproducible long-range railway obstacle perception. This study also clarifies the remaining limitations in rail-geometry quality, calibration robustness, sensor degradation, and strict railway-oriented localization.