title: Fast Object Motion Estimation Based on Dynamic Stixels.
abstract: The stixel world is a simplification of the world in which obstacles are represented as vertical instances, called stixels, standing on a surface assumed to be planar. In this paper, previous approaches for stixel tracking are extended using a two-level scheme. In the first level, stixels are tracked by matching them between frames using a bipartite graph in which edges represent a matching cost function. Then, stixels are clustered into sets representing objects in the environment. These objects are matched based on the number of stixels paired inside them. Furthermore, a faster, but less accurate approach is proposed in which only the second level is used. Several configurations of our method are compared to an existing state-of-the-art approach to show how our methodology outperforms it in several areas, including an improvement in the quality of the depth reconstruction.
authors.affiliation: Departamento de Ingenier&#237;a Inform&#225;tica, Universidad de La Laguna, Avda. Astrof&#237;sico Francisco S&#225;nchez, s/n, San Crist&#243;bal de La Laguna 38271, Spain. nestor@isaatc.ull.es.
authors.forename: Néstor
authors.initials: N
authors.lastname: Morales
authors.affiliation: Departamento de Ingenier&#237;a Inform&#225;tica, Universidad de La Laguna, Avda. Astrof&#237;sico Francisco S&#225;nchez, s/n, San Crist&#243;bal de La Laguna 38271, Spain. amorell@isaatc.ull.es.
authors.forename: Antonio
authors.initials: A
authors.lastname: Morell
authors.affiliation: Departamento de Ingenier&#237;a Inform&#225;tica, Universidad de La Laguna, Avda. Astrof&#237;sico Francisco S&#225;nchez, s/n, San Crist&#243;bal de La Laguna 38271, Spain. jonay@isaatc.ull.es.
authors.forename: Jonay
authors.initials: J
authors.lastname: Toledo
authors.affiliation: Departamento de Ingenier&#237;a Inform&#225;tica, Universidad de La Laguna, Avda. Astrof&#237;sico Francisco S&#225;nchez, s/n, San Crist&#243;bal de La Laguna 38271, Spain. leo@isaatc.ull.es.
authors.forename: Leopoldo
authors.initials: L
authors.lastname: Acosta
keywords: 3D reconstruction; autonomous vehicles; object clustering; object tracking; stixels