This review paper presents an overview of the state-of-the-art techniques that allow on-board detection of obstacles on and near rail tracks. However, on-board sensor-based forward monitoring systems which provide continuous monitoring of the rail tracks in front of the train can complement the detection provided by static infrastructure such as level crossing monitoring systems, and so have the potential to significantly improve railway safety. To date, the majority of work regarding obstacle detection in railways has concerned static obstacle detection systems at level crossings that are one of the highest risk elements of the railway system as they involve the potentially unpredictable behaviour of road and footpath users. However, recent accident rates indicate that there is still scope for further improvement of railway safety. As a result of various improvements in safety and in technology, the number of accidents has been decreasing over recent years with 563 fewer accidents in 2018 compared with 2010, a reduction of 25.3%.
There were in total 853 casualties in these accidents, while another 748 people were seriously injured. Out of this number, 939 accidents involved rolling stock in motion and humans (excluding suicides) and a further 442 were level crossing accidents including pedestrians. In 2018, 1666 significant railway accidents were reported in the European Union.
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