Fig. 1. Principle of train interval control

Fig. 2. Spatial separation principle of CMOS camera

Fig. 3. Process of train positioning

Fig. 4. Adjustment of camera azimuth. (a) Minimum of camera azimuth; (b) maximum of camera azimuth

Fig. 5. Adaptive acquisition process of positioning lamps

Fig. 6. Geometric projection model of camera

Fig. 7. Experimental platform for train positioning

Fig. 8. Adaptive adjustment results of camera azimuth. (a) Curve radius is 500 m; (b) curve radius is 400 m; (c) curve radius is 300 m; (d) curve radius is 250 m

Fig. 9. Successful rates of capturing positioning lamps with different methods

Fig. 10. Successful rates of capturing positioning lamps at different speeds

Fig. 11. Train positioning results at different speeds

Fig. 12. Train positioning results with different methods of capturing lamps