영상 영역 특징 추가 및 유전 알고리즘 기반 최적화를 통한 스틱셀 분할 개선 방법

Abstract

Recently, a medium-level representation named “Stixel” has been extensively researched in stereo visionbased environmental perception. Obstacle detection using Stixel representation consists of three steps: static Stixel generation, dynamic Stixel generation, and Stixel segmentation. This paper focuses on the Stixel segmentation step and has two contributions. One is that it shows that Stixel segmentation performance can be enhanced by utilizing both image domain and real world domain features. The other is that it suggests that parameters used for Stixel segmentation can be effectively tuned based on genetic algorithm. The proposed method was quantitatively evaluated and the result showed that the proposed method increased Stixel segmentation accuracy compared with the previous method.