The Stixel World - A Compact Medium Level Representation of the 3D-World

  • Hernán Badino
  • Uwe Franke
  • David Pfeiffer
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5748)


Ambitious driver assistance for complex urban scenarios demands a complete awareness of the situation, including all moving and stationary objects that limit the free space. Recent progress in real-time dense stereo vision provides precise depth information for nearly every pixel of an image. This rises new questions: How can one efficiently analyze half a million disparity values of next generation imagers? And how can one find all relevant obstacles in this huge amount of data in real-time? In this paper we build a medium-level representation named “stixel-world”. It takes into account that the free space in front of vehicles is limited by objects with almost vertical surfaces. These surfaces are approximated by adjacent rectangular sticks of a certain width and height. The stixel-world turns out to be a compact but flexible representation of the three-dimensional traffic situation that can be used as the common basis for the scene understanding tasks of driver assistance and autonomous systems.


Dynamic Programming Free Space Foreground Object Occupancy Grid Stereo Algorithm 
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 2009

Authors and Affiliations

  • Hernán Badino
    • 1
  • Uwe Franke
    • 2
  • David Pfeiffer
    • 2
  1. 1.Goethe University FrankfurtGermany
  2. 2.Daimler AGGermany

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