Fast Stixel Computation for Fast Pedestrian Detection

  • Rodrigo Benenson
  • Markus Mathias
  • Radu Timofte
  • Luc Van Gool
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7585)


Applications using pedestrian detection in street scene require both high speed and quality. Maximal speed is reached when exploiting the geometric information provided by stereo cameras. Yet, extracting useful information at speeds higher than 100 Hz is a non-trivial task. We propose a method to estimate the ground-obstacles boundary (and its distance), without computing a depth map. By properly parametrizing the search space in the image plane we improve the algorithmic performance, and reach speeds of \(200\ \mbox{Hz}\) on a desktop CPU. When connected with a state of the art GPU objects detector, we reach high quality detections at the record speed of \(165\ \mbox{Hz}\).


Object Detection Ground Plane Horizontal Gradient Stereo Match Obstacle Detection 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Rodrigo Benenson
    • 1
  • Markus Mathias
    • 1
  • Radu Timofte
    • 1
  • Luc Van Gool
    • 1
  1. 1.ESAT-PSI-VISICS/IBBTKU LeuvenBelgium

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