An implementation of stixel computation
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README.md

stixel-world

An implementation of stixel computation

stixel-world

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

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

Author

gishi523