Extending the Dynamic Stixel World with B-Spline based Road Estimation for Obstacle Detection

摘要

Stixel based obstacle detection plays an important role in obstacle detection yet with the limitation of assuming a flat road. This assumption would mistake a sloping road in front of the flat one as obstacle. In this paper, we extend the dynamic stixel world with the cubic B-spline based non-flat road estimation in the v-disparity map. The parameters of B-spline are tracked over time using a Kalman filter. We also add color histogram to the stixel for a better representing. Experimental results in KITTI benchmark show the stixel building efficiency of our method in distinguishing between an uprising road and obstacles. Meanwhile, our method achieves an average 3.2% accuracy gain for obstacle detection, and can realize real-time performance about 72 ms per frame on our local computer containing an Intel is-7500T CPU with 2.7 GHz frequency and GTX 1080Ti GPU used for stereo matching.