gishi523 / stixel-world

An implementation of stixel computation

stixel-world

An implementation of stixel computation

Description

• An implementation of the static Stixel computation based on [1,2].
• Extracts the static Stixels from the input disparity map.
• Not a dynamic Stixel. It means that tracking and estimating motion of each Stixel is not supported.

References

• [1] D. Pfeiffer, U. Franke: “Efficient Representation of Traffic Scenes by means of Dynamic Stixels”, IEEE Intelligent Vehicles Symposium IV 2010, San Diego, CA, Juni 2010
• [2] H. Badino, U. Franke, and D. Pfeiffer, “The stixel world - a compact medium level representation of the 3d-world,” in DAGM Symposium, (Jena, Germany), September 2009.

Demo

• Demo1
• Demo2

Requirement

• OpenCV

How to build

$ git clone https://github.com/gishi523/stixel-world.git
$ cd stixel-world
$ mkdir build
$ cd build
$ cmake ../
$ make

How to use

./stixelworld left-image-format right-image-format camera.xml

• left-image-format
  • the left image sequence
• right-image-format
  • the right image sequence
• camera.xml
  • the camera intrinsic and extrinsic parameters

Example

./stixelworld images/img_c0_%09d.pgm images/img_c1_%09d.pgm ../camera.xml

Data

• I tested this work using the Daimler Ground Truth Stixel Dataset
• http://www.6d-vision.com/ground-truth-stixel-dataset

Author

gishi523