PT Unknown
AU Daniel Hernandez
   Antonio Espinosa
   David Vazquez
   Antonio Lopez
   Juan Carlos Moure
TI GPU-accelerated real-time stixel computation
BT IEEE Winter Conference on Applications of Computer Vision
PY 2017
BP 1054
EP 1062
DI 10.1109/WACV.2017.122
DE Autonomous Driving; GPU; Stixel
AB The Stixel World is a medium-level, compact representation of road scenes that abstracts millions of disparity pixels into hundreds or thousands of stixels. The goal of this work is to implement and evaluate a complete multi-stixel estimation pipeline on an embedded, energyefficient, GPU-accelerated device. This work presents a full GPU-accelerated implementation of stixel estimation that produces reliable results at 26 frames per second (real-time) on the Tegra X1 for disparity images of 1024×440 pixels and stixel widths of 5 pixels, and achieves more than 400 frames per second on a high-end Titan X GPU card.
ER