Stixels Motion Estimation without Optical Flow Computation

Bertan Günyel^{1, 2}, Rodrigo Benenson¹, Radu Timofte¹, and Luc Van Gool¹

¹ESAT-PSI-VISICS/IBBT, Katholieke Universiteit Leuven, Belgium
Bertan.Gunyel@esat.kuleuven.be
Rodrigo.Benenson@esat.kuleuven.be
Radu.Timofte@esat.kuleuven.be
Luc.VanGool@esat.kuleuven.be

²3cap Technologies Gmb, Oberschleißheim, Germany
bertan.guenyel@3cap.de

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.

LNCS 7577, p. 528 ff.

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