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Author
Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan C. Moure
Title
3D Perception With Slanted Stixels on GPU
Type
Journal Article
Year
2021
Publication
IEEE Transactions on Parallel and Distributed Systems
Abbreviated Journal
TPDS
Volume
32
Issue
10
Pages
2434-2447
Keywords
Daniel Hernandez-Juarez; Antonio Espinosa; David Vazquez; Antonio M. Lopez; Juan C. Moure
Abstract
This article presents a GPU-accelerated software design of the recently proposed model of Slanted Stixels, which represents the geometric and semantic information of a scene in a compact and accurate way. We reformulate the measurement depth model to reduce the computational complexity of the algorithm, relying on the confidence of the depth estimation and the identification of invalid values to handle outliers. The proposed massively parallel scheme and data layout for the irregular computation pattern that corresponds to a Dynamic Programming paradigm is described and carefully analyzed in performance terms. Performance is shown to scale gracefully on current generation embedded GPUs. We assess the proposed methods in terms of semantic and geometric accuracy as well as run-time performance on three publicly available benchmark datasets. Our approach achieves real-time performance with high accuracy for 2048 × 1024 image sizes and 4 × 4 Stixel resolution on the low-power embedded GPU of an NVIDIA Tegra Xavier.
Address
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Thesis
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Place of Publication
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Series Editor
Series Title
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Series Volume
Series Issue
Edition
ISSN
ISBN
Medium
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Expedition
Conference
Notes
ADAS; 600.124; 600.118
Approved
no
Call Number
Admin @ si @ HEV2021
Serial
3561
Permanent link to this record
Author
David Geronimo; Angel Sappa; Daniel Ponsa; Antonio Lopez
Title
2D-3D based on-board pedestrian detection system
Type
Journal Article
Year
2010
Publication
Computer Vision and Image Understanding
Abbreviated Journal
CVIU
Volume
114
Issue
5
Pages
583–595
Keywords
Pedestrian detection; Advanced Driver Assistance Systems; Horizon line; Haar wavelets; Edge orientation histograms
Abstract
During the next decade, on-board pedestrian detection systems will play a key role in the challenge of increasing traffic safety. The main target of these systems, to detect pedestrians in urban scenarios, implies overcoming difficulties like processing outdoor scenes from a mobile platform and searching for aspect-changing objects in cluttered environments. This makes such systems combine techniques in the state-of-the-art Computer Vision. In this paper we present a three module system based on both 2D and 3D cues. The first module uses 3D information to estimate the road plane parameters and thus select a coherent set of regions of interest (ROIs) to be further analyzed. The second module uses Real AdaBoost and a combined set of Haar wavelets and edge orientation histograms to classify the incoming ROIs as pedestrian or non-pedestrian. The final module loops again with the 3D cue in order to verify the classified ROIs and with the 2D in order to refine the final results. According to the results, the integration of the proposed techniques gives rise to a promising system.
Address
Computer Vision and Image Understanding (Special Issue on Intelligent Vision Systems), Vol. 114(5):583-595
Corporate Author
Thesis
Publisher
Place of Publication
Editor
Language
Summary Language
Original Title
Series Editor
Series Title
Abbreviated Series Title
Series Volume
Series Issue
Edition
ISSN
1077-3142
ISBN
Medium
Area
Expedition
Conference
Notes
ADAS
Approved
no
Call Number
ADAS @ adas @ GSP2010
Serial
1341
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