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	Author	Daniel Hernandez; Lukas Schneider; Antonio Espinosa; David Vazquez; Antonio Lopez; Uwe Franke; Marc Pollefeys; Juan C. Moure
	Title	Slanted Stixels: Representing San Francisco's Steepest Streets}			Type	Conference Article
	Year	2017	Publication	28th British Machine Vision Conference	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	In this work we present 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 that uses an extremely efficient over-segmentation. In doing so, the computational complexity of the Stixel inference algorithm is reduced significantly, achieving real-time computation capabilities with only a slight drop in accuracy. We evaluate the proposed approach 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.
	Address	London; uk; September 2017
	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		ISBN		Medium
	Area		Expedition		Conference	BMVC
	Notes	ADAS; 600.118			Approved	no
	Call Number	ADAS @ adas @ HSE2017a			Serial	2945
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