Slanted stixels: Representing San Francisco’s steepest streets

Daniel Hernandez-Juarez, Lukas Schneider, Antonio Espinosa, David Vázquez, Antonio M. López, Uwe Franke, Marc Pollefeys, Juan Carlos Moure Lopez

Research output: Contribution to journalArticleResearchpeer-review

23 Citations (Scopus)


In this work we present a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel depth model to account for non-flat roads and slanted objects. Both semantic and depth cues are used jointly to infer the scene representation in a sound global energy minimization formulation. Furthermore, a novel approximation scheme is introduced that uses an extremely efficient over-segmentation. In doing so, the computational complexity of the Stixel inference algorithm is reduced significantly, achieving real-time computation capabilities with only a slight drop in accuracy. We evaluate the proposed approach in terms of semantic and geometric accuracy as well as run-time on four publicly available benchmark datasets. Our approach maintains accuracy on flat road scene datasets while improving substantially on a novel non-flat road dataset.

Original languageEnglish
JournalBritish Machine Vision Conference 2017, BMVC 2017
Publication statusPublished - 17 Jul 2017


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