GPU-Accelerated Real-Time Stixel Computation
Daniel Hernandez-Juarez, Antonio Espinosa, Juan Carlos Moure, David Vázquez, Antonio Manuel López · 2017
The Stixel World is a medium-level, compact representation of road scenes that abstracts millions of disparity pixels into hundreds or thousands of stixels. The goal of this work is to implement and evaluate a complete multistixel estimation pipeline on an embedded, energy-efficient, GPU-accelerated device. This work presents a full GPUaccelerated implementation of stixel estimation that produces reliable results at 26 frames per second (real-time) on the Tegra X1 for disparity images of 1024×440 pixels and stixel widths of 5 pixels, and achieves more than 400 frames per second on a high-end Titan X GPU card.