The 6D-Vision principle to track 3D points from frame to frame and to determine position and speed is not limited to isolated points. It can be applied also to groups of image points, so called superpixels. When tracking Stixels over multiple frames, the 6D-Vision principle allows to estimate their motion. The video shows a situation at a traffic light, where the arows point to the expected position in 500ms, the color encodes the distance of the Stixel [13]. Since the 6D-Vision filter step considers all image points in an integrative fashion, one obtains more accurate measurements of position and velocity than with isolated points - another great step foreward. |
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