The Stixel World is a medium-level, compact representation of road scenes that abstracts millions of disparity pixels into hundreds or thousands of stixels. The goal of this work is to implement and evaluate a complete multi-stixel estimation pipeline on an embedded, energy-efficient, GPU-accelerated device. This work presents a full GPU-accelerated implementation of stixel estimation that produces reliable results at 26 frames per second (real-time) on the Tegra X1 for disparity images of 1024x440 pixels and stixel widths of 5 pixels, and achieves more than 400 frames per second on a high-end Titan X GPU card.
@article{arxiv.1610.04124,
title = {GPU-accelerated real-time stixel computation},
author = {Daniel Hernandez-Juarez and Antonio Espinosa and David Vázquez and Antonio Manuel López and Juan Carlos Moure},
journal= {arXiv preprint arXiv:1610.04124},
year = {2016}
}