Measurement Error Detection Method Based on Variation of Distance data Using 2D-LiDAR

Railroad equipment manufacturers are surveying a railroad clearance and the environment along the rail line to ensure that rail vehicles can travel safely. Currently, there is a need for a system to accurately measure the distance from the center of the track to structures within the railroad. Therefore, we have developed a 2D-LiDAR system to create 2D drawings of the geometry in the railroad. In this study, we propose a method to detect errors in distance data that occur during 2D-LiDAR measurements, which hinder the creation of accurate drawings, independent of the measurement environment. The validity of the proposed method was confirmed by measuring the railroad clearance in a real environment through verification experiments.