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Author Daniel Hernandez; Lukas Schneider; P. Cebrian; A. Espinosa; David Vazquez; Antonio Lopez; Uwe Franke; Marc Pollefeys; Juan Carlos Moure edit   pdf
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  Title (up) Slanted Stixels: A way to represent steep streets Type Journal Article
  Year 2019 Publication International Journal of Computer Vision Abbreviated Journal IJCV  
  Volume 127 Issue Pages 1643–1658  
  Keywords  
  Abstract This work presents and evaluates a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel depth model to account for non-flat roads and slanted objects. Both semantic and depth cues are used jointly to infer the scene representation in a sound global energy minimization formulation. Furthermore, a novel approximation scheme is introduced in order to significantly reduce the computational complexity of the Stixel algorithm, and then achieve real-time computation capabilities. The idea is to first perform an over-segmentation of the image, discarding the unlikely Stixel cuts, and apply the algorithm only on the remaining Stixel cuts. This work presents a novel over-segmentation strategy based on a fully convolutional network, which outperforms an approach based on using local extrema of the disparity map. We evaluate the proposed methods in terms of semantic and geometric accuracy as well as run-time on four publicly available benchmark datasets. Our approach maintains accuracy on flat road scene datasets while improving substantially on a novel non-flat road dataset.  
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  Area Expedition Conference  
  Notes ADAS; 600.118; 600.124 Approved no  
  Call Number Admin @ si @ HSC2019 Serial 3304  
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