Stixel-based Traffic Scene Representation Using U-disparity

Abstract

The Stixel World is a valid approach of interpreting 3D traffic scenes. This paper presents a novel and simple method to establish the Stixel World by exploiting the properties of U-disparity. Unlike the conventional stixel extraction method, the proposed method does not model the ground plane, but construct a U-disparity map and accordingly remove ground-related points and background-related points in virtue of U-disparity properties. The resulting U-disparity map is re-projected back to the disparity map so that the base and top-points of foreground obstacles can be determined. Experiments show that the proposed method can effectively build a Stixel World for a variety of scenarios and is not constrained by topography and object classes.