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Stixels Motion Estimation without Optical Flow Computation

Bertan Gunyel and Rodrigo Benenson and Radu Timofte and Luc Van Gool
12th European Conference on Computer Vision (ECCV 2012)
Italy, October 2012

Abstract

This paper presents a new approach to estimate the motion of objects seen from a stereo rig mounted on a ground mobile robot. We exploit the prior knowledge on ground plane presence and rough shape of objects, to extract a simplified world model, named stixel world. The contribution of this paper is to show that stixels motion can be estimated directly solving a single dynamic programming problem instead of an image wide optical flow computation. We compare this new method with baseline methods, show competitive results quality-wise, and a significant gain speed-wise.


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@InProceedings{eth_biwi_01286,
  author = {Bertan Gunyel and Rodrigo Benenson and Radu Timofte and Luc Van Gool},
  title = {Stixels Motion Estimation without Optical Flow Computation},
  booktitle = {12th European Conference on Computer Vision (ECCV 2012)},
  year = {2012},
  month = {October},
  keywords = {}
}