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Fast Object Motion Estimation Based on Dynamic Stixels.

ABSTRACT: The stixel world is a simplification of the world in which obstacles are represented as vertical instances, called stixels, standing on a surface assumed to be planar. In this paper, previous approaches for stixel tracking are extended using a two-level scheme. In the first level, stixels are tracked by matching them between frames using a bipartite graph in which edges represent a matching cost function. Then, stixels are clustered into sets representing objects in the environment. These objects are matched based on the number of stixels paired inside them. Furthermore, a faster, but less accurate approach is proposed in which only the second level is used. Several configurations of our method are compared to an existing state-of-the-art approach to show how our methodology outperforms it in several areas, including an improvement in the quality of the depth reconstruction.

SUBMITTER: Morales N

PROVIDER: S-EPMC5017348 | biostudies-literature | 2016 Jul

REPOSITORIES: biostudies-literature

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Fast Object Motion Estimation Based on Dynamic Stixels.

Morales Néstor N Morell Antonio A Toledo Jonay J Acosta Leopoldo L

Sensors (Basel, Switzerland) 20160728 8

The stixel world is a simplification of the world in which obstacles are represented as vertical instances, called stixels, standing on a surface assumed to be planar. In this paper, previous approaches for stixel tracking are extended using a two-level scheme. In the first level, stixels are tracked by matching them between frames using a bipartite graph in which edges represent a matching cost function. Then, stixels are clustered into sets representing objects in the environment. These object ...[more]

PMID: 27483265

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