GPU-accelerated real-time stixel computation

Daniel Hernandez-Juarez, Antonio Espinosa, David Vazquez, Antonio Manuel Lopez, Juan Carlos Moure
Computer Architecture & Operating Systems Department (CAOS) at Universitat Autonoma de Barcelona
arXiv:1610.04124 [cs.CV], (13 Oct 2016)

   title={GPU-accelerated real-time stixel computation},

   author={Hernandez-Juarez, Daniel and Espinosa, Antonio and Vazquez, David and Lopez, Antonio Manuel and Moure, Juan Carlos},






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 multi-stixel estimation pipeline on an embedded, energy-efficient, GPU-accelerated device. This work presents a full GPU-accelerated 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.
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