The Autonomous Siemens Tram

Albi Sema; Andrew W. Palmer; Peter Rudolph; Wolfgang Waizenegger; Wolfram Martens

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The Autonomous Siemens Tram

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arxiv 2102.04034 v1 pith:EXNW5ZTS submitted 2021-02-08 cs.RO cs.CV

Andrew W. Palmer , Albi Sema , Wolfram Martens , Peter Rudolph , Wolfgang Waizenegger This is my paper · ORCID

classification cs.ROcs.CV

keywords siemenstramautonomoushandlingalongbuiltcombinocomponents

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This paper presents the Autonomous Siemens Tram that was publicly demonstrated in Potsdam, Germany during the InnoTrans 2018 exhibition. The system was built on a Siemens Combino tram and used a multi-modal sensor suite to localize the vehicle, and to detect and respond to traffic signals and obstacles. An overview of the hardware and the developed localization, signal handling, and obstacle handling components is presented, along with a summary of their performance.

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