# The Autonomous Siemens Tram

arXiv: https://arxiv.org/abs/2102.04034 · HTML: https://mlsanity.com/paper/2102.04034/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 4 of its 7 references that are in the map.
- First posted on arXiv 8 Feb 2021.

## Builds on (most cited first, 4 of 4)

- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Dynamic Occupancy Grid Prediction for Urban Autonomous Driving: A Deep Learning Approach with Fully Automatic Labeling](https://mlsanity.com/paper/1705.08781/) (2017)
- [Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles](https://mlsanity.com/paper/1904.00936/) (2019)
- [Robust Odometry using Sensor Consensus Analysis](https://mlsanity.com/paper/1803.02237/) (2018)

## Abstract (arXiv)

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.