Pfeiffer and Franke 2010 : Correlation based
stereo vision has proven its power in commercially
available driver assistance systems. Recently, real-time dense stereo vision has become available on inexpensive FPGA hardware.
In order to manage the huge amount of data, a medium-level representation named
“Stixel World” has been proposed for further analysis. In this representation
the free space in front of the vehicle is limited by
adjacent rectangular sticks of a certain width. Distance and height of each so
called stixel are determined by those parts of the obstacle it represents. This
Stixel World is a compact but flexible representation of the three-dimensional
traffic situation. The underlying model assumption is that objects stand on the
ground and have approximately vertical pose with a flat surface. So far, this
representation is static since it is computed for each frame independently.
Driver assistance, however, is most interested in pose and motion of moving
obstacles. For this reason, we introduce tracking of stixels in this paper.
Using the 6D-Vision Kalman filter framework, lateral
as well as longitudinal motion is estimated for each stixel. That way, the
grouping of stixels based on similar motion as well as the detection of moving
obstacles turns out to be significantly simplified. The new dynamic Stixel World has proven to be well suited as a
common basis for the scene understanding tasks of driver assistance and