Stixels Motion Estimation without Optical Flow Computation
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Abstract
This paper presents a new approach to estimate the motion of ob jects seen from a stereo rig mounted on a ground mobile robot. We exploit the prior knowledge on ground plane presence and rough shape of ob jects, 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.
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