TY  - CONF
AU  - Daniel Hernandez
AU  - Lukas Schneider
AU  - Antonio Espinosa
AU  - David Vazquez
AU  - Antonio Lopez
AU  - Uwe Franke
AU  - Marc Pollefeys
AU  - Juan C. Moure
A2  - BMVC
PY  - 2017//
TI  - Slanted Stixels: Representing San Francisco's Steepest Streets}
BT  - 28th British Machine Vision Conference
N2  - 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.
L1  - http://refbase.cvc.uab.es/files/HSE2017a.pdf
N1  - ADAS; 600.118
ID  - Daniel Hernandez2017
ER  -