README.md

multilayer-stixel-world

An implementation of multi-layered stixel computation

Description

• An implementation of the Multi-Layered Stixel computation based on [1].
• Extracts the Stixels from the input disparity map.
• Allows for multiple Stixels along every column.

References

• [1] The Stixel World - A Compact Medium-level Representation for Efficiently Modeling Three-dimensional Environments

Demo

• Demo1
• Demo2

Requirement

• OpenCV
• OpenMP (optional)

How to build

$ git clone https://github.com/gishi523/multilayer-stixel-world.git
$ cd multilayer-stixel-world
$ mkdir build
$ cd build
$ cmake ../
$ make

How to run

./stixelworld left-image-format right-image-format camera.xml

• left-image-format
  • the left image sequence
• right-image-format
  • the right image sequence
• camera.xml
  • the camera intrinsic and extrinsic parameters

Example

./stixelworld images/img_c0_%09d.pgm images/img_c1_%09d.pgm ../camera.xml

Data

• I tested this work using the Daimler Ground Truth Stixel Dataset
• http://www.6d-vision.com/ground-truth-stixel-dataset

Performance(Update 2019/1/6)

• Setup

Key	Value
CPU	Core-i7 6700K(4.00 GHz/4Core/8T)
Disparity size	128
Stixel width	7
Scale down factor in image height	2
OpenMP	ON

• Stixel computation time

Image size	Time[milli seconds]
1024 x 333	8
1024 x 440	13

Author

gishi523