GPU-accelerated real-time stixel computation
This work addresses the need for efficient, real-time processing in autonomous driving or robotics, but it is incremental as it focuses on optimizing an existing method for specific hardware.
The paper tackled the problem of real-time stixel computation for road scene representation by implementing a GPU-accelerated pipeline, achieving 26 frames per second on an embedded Tegra X1 device and over 400 frames per second on a high-end Titan X GPU.
The Stixel World is a medium-level, compact representation of road scenes that abstracts millions of disparity pixels into hundreds or thousands of stixels. The goal of this work is to implement and evaluate a complete multi-stixel estimation pipeline on an embedded, energy-efficient, GPU-accelerated device. This work presents a full GPU-accelerated implementation of stixel estimation that produces reliable results at 26 frames per second (real-time) on the Tegra X1 for disparity images of 1024x440 pixels and stixel widths of 5 pixels, and achieves more than 400 frames per second on a high-end Titan X GPU card.