NDLI: Stix-Fusion: A Probabilistic Stixel Integration Technique

Content Provider	IEEE Xplore Digital Library
Author	Muffert, M. Schneider, N. Franke, U.
Copyright Year	2014
Description	Author affiliation: Daimler AG, Sindelfingen, Germany (Muffert, M.; Franke, U.) \|\| IT-Designers GmbH, Esslingen, Germany (Schneider, N.)
Abstract	In summer 2013, a Mercedes S-Class drove completely autonomously for about 100 km from Mannheim to Pforzheim, Germany, using only close-to-production sensors. In this project, called Mercedes Benz Intelligent Drive, stereo vision was one of the main sensing components. For the representation of free space and obstacles we relied on the so called Stixel World, a generic 3D intermediate representation which is computed from dense disparity images. In spite of the high performance of the Stixel World in most common traffic scenes, the availability of this technique is limited. For instance under adverse weather, rain or even spray water on the windshield results in erroneous disparity images which generate false Stixel results. This can lead to undesired behavior of autonomous vehicles. Our goal is to use the Stixel World for a robust free space estimation and a reliable obstacle detection even during difficult weather conditions. In this paper, we meet this challenge and fuse the Stixels incrementally into a reference grid map. Our new approach is formulated in a Bayesian manner and is based on existence estimation methods. We evaluate our new technique on a manually labeled database with emphasis on bad weather scenarios. The number of structures which are detected mistakenly within free space areas is reduced by a factor of two whereas the detection rate of obstacles increases at the same time.
Starting Page	16
Ending Page	23
File Size	1105590
Page Count	8
File Format	PDF
e-ISBN	9781479943371
DOI	10.1109/CRV.2014.11
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-06
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	temporal Stixel World integration Three-dimensional displays Current measurement Estimation occupancy grid mapping Probabilistic logic Sensors existence estimation stereo vision Vehicles Meteorology
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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