# Air-ground collaborative multi-source orbital integrated detection system: Combining 3D imaging and intrusion recognition

## TL;DR

This paper introduces a new rail inspection system combining ground and aerial LiDAR with AI to improve railway safety and efficiency.

## Contribution

A novel air-ground collaborative system integrating 3D imaging and intrusion detection for railway inspection is proposed.

## Key findings

- An improved LOAM-SLAM algorithm enables real-time dynamic mapping for rail inspection.
- An optimized ICP algorithm achieves high-precision point cloud registration and colorization.
- A YOLOv3-ResNet model achieves 97% recall and 99% precision for intrusion detection.

## Abstract

With the rapid expansion of railway networks globally, ensuring rail infrastructure safety through efficient detection methods has become critical. Traditional inspection systems face limitations in flexibility, adaptability to adverse weather, and multifunctional integration. This study proposes a ground-air collaborative multi-source detection system that integrates 3D light detection and ranging (LiDAR)-based point cloud imaging and deep learning-driven intrusion detection. The system employs a lightweight rail inspection vehicle equipped with dual LiDARs and an Astro camera, synchronized with an unmanned aerial vehicle (UAV) carrying industrial-grade LiDAR. We propose an improved LiDAR odometry and mapping with sliding window (LOAM-SLAM) algorithm enables real-time dynamic mapping, while an optimized iterative closest point (ICP) algorithm achieves high-precision point cloud registration and colorization. For intrusion detection, a You Only Look Once version 3 (YOLOv3)-ResNet fusion model achieves a recall rate of 0.97 and precision of 0.99. The system’s innovative design and technical implementation offer significant improvements in railway track inspection efficiency and safety. This work establishes a new paradigm for adaptive railway maintenance in complex environments.