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Improved Stixel Estimation Based on Transitivity Analysis in Disparity Space

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Computer Analysis of Images and Patterns (CAIP 2017)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 10424))

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Abstract

We present a novel method for stixel construction using a calibrated collinear trinocular vision system. Our method takes three conjugate stereo images at the same time to measure the consistency of disparity values by means of the transitivity error in disparity space. Unlike previous stixel estimation methods that are built based on a single disparity map, our proposed method introduces a multi-map fusion technique to obtain more robust stixel calculations. We also apply a polynomial curve fitting approach to detect an accurate road manifold, using the v-disparity space which is built based on a confidence map, which further supports accurate stixel calculation. Comparing the depth information from the extracted stixels (using stixel maps) with depth measurements obtained from a highly accurate LiDAR range sensor, we evaluate the accuracy of the proposed method. Experimental results indicate a significant improvement of 13.6% in the accuracy of stixel detection compared to conventional binocular vision.

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Notes

  1. 1.

    We adopt a semi-global matching (SGM) algorithm [12] for disparity calculation.

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Author information

Authors and Affiliations

  1. EEE Department, School of Engineering, Computer, and Mathematical Sciences, Auckland University of Technology, Auckland, New Zealand

    Noor Haitham Saleem, Hsiang-Jen Chien & Reinhard Klette

  2. CE Department, Faculty of Computer and Information Technology Engineering, Qazvin Islamic Azad University, Qazvin, Iran

    Mahdi Rezaei

Authors
  1. Noor Haitham Saleem
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  2. Hsiang-Jen Chien
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  3. Mahdi Rezaei
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  4. Reinhard Klette
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Corresponding author

Correspondence to Noor Haitham Saleem .

Editor information

Editors and Affiliations

  1. Linköping University, Linköping, Sweden

    Michael Felsberg

  2. Lund University, Lund, Sweden

    Anders Heyden

  3. University of Southern Denmark, Odense, Denmark

    Norbert Krüger

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Saleem, N.H., Chien, HJ., Rezaei, M., Klette, R. (2017). Improved Stixel Estimation Based on Transitivity Analysis in Disparity Space. In: Felsberg, M., Heyden, A., Krüger, N. (eds) Computer Analysis of Images and Patterns. CAIP 2017. Lecture Notes in Computer Science(), vol 10424. Springer, Cham. https://doi.org/10.1007/978-3-319-64689-3_3

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  • DOI: https://doi.org/10.1007/978-3-319-64689-3_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-64688-6

  • Online ISBN: 978-3-319-64689-3

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