Maintenance trains travel in convoy. In Australia,udonly the first train of the convoy pays attention to the track sig-udnalization (the other convoy vehicles simply follow the precedingudvehicle). Because of human errors, collisions can happen betweenudthe maintenance vehicles. Although an anti-collision system basedudon a laser distance meter is already in operation, the existingudsystem has a limited range due to the curvature of the tracks.udIn this paper, we introduce an anti-collision system based onudvision. The two main ideas are, (1) to warp the camera imageudinto an image where the rails are parallel through a projectiveudtransform, and (2) to track the two rail curves simultaneouslyudby evaluating small parallel segments. The performance of theudsystem is demonstrated on an image dataset.
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