Stixels Motion Estimation without Optical Flow Computation

  • Bertan Günyel
  • Rodrigo Benenson
  • Radu Timofte
  • Luc Van Gool
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7577)


This paper presents a new approach to estimate the motion of objects seen from a stereo rig mounted on a ground mobile robot. We exploit the prior knowledge on ground plane presence and rough shape of objects, to extract a simplified world model, named stixel world. The contribution of this paper is to show that stixels motion can be estimated directly solving a single dynamic programming problem instead of an image wide optical flow computation. We compare this new method with baseline methods, show competitive results quality-wise, and a significant gain speed-wise.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Bertan Günyel
    • 1
    • 2
  • Rodrigo Benenson
    • 1
  • Radu Timofte
    • 1
  • Luc Van Gool
    • 1
  1. 1.ESAT-PSI-VISICS/IBBTKatholieke Universiteit LeuvenBelgium
  2. 2.3cap Technologies GmbOberschleißheimGermany

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