Table 3.

Sensor specifications deployed for data collection on rail vehicles [21].

Device	Type	Specification
Camera	Basler acA1920-155uc	Frame-rate $20 \mathrm{fps}$ (The hardware is able to capture up to $155 \mathrm{fps}$.), Resolution $1920\times 1200$, Dynamic range $73 \mathrm{dB}$
Lense	Edmund Optics	Focal length $8 \mathrm{mm}\approx 70deg$ opening angle; Aperture $f/5.6$
IMU	ADIS16445	Temperature calibrated, $300 \mathrm{Hz}$, $\pm 250 deg/\mathrm{s}$, $\pm 49 \mathrm{m}/{\mathrm{s}}^2$