Stixels estimation through stereo matching of road scenes

Kwang Hee Won, Joonwoo Son, Soon Ki Jung

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Recently, Stixel-world, a medium level representation of road scene components has been introduced. The existing stix-els estimation approaches are separated from a depth estimation process, or they directly make use of stereo images and only compute stixels without producing per-pixel depth information. For road scenes, however, many machine vision tasks require both per-pixel depth information and the higher-level representation of it. This paper presents a combined process of stixels estimation and stereo matching process. The proposed method generates per-pixel depth information and stixels for both the ground surface and obstacles, at the same time. We have modified a multi-path line-optimization process of the stereo matching algorithm to produce multiple stixels of the ground and obstacle segments for each image column. Experimental results show that the proposed algorithm estimates stixels more accurately than the existing algorithm, and it also produces high-quality dense depth information, at the same time.

Original languageEnglish
Title of host publicationProceedings of the 2014 Research in Adaptive and Convergent Systems, RACS 2014
PublisherAssociation for Computing Machinery
Pages116-120
Number of pages5
ISBN (Electronic)9781450330602
DOIs
StatePublished - 5 Oct 2014
Event2014 Conference on Research in Adaptive and Convergent Systems, RACS 2014 - Towson, United States
Duration: 5 Oct 20148 Oct 2014

Publication series

NameProceedings of the 2014 Research in Adaptive and Convergent Systems, RACS 2014

Conference

Conference2014 Conference on Research in Adaptive and Convergent Systems, RACS 2014
Country/TerritoryUnited States
CityTowson
Period5/10/148/10/14

Keywords

  • Road scenes
  • Stereo matching
  • Stixels estimation

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