# GPU-accelerated real-time stixel computation

arXiv: https://arxiv.org/abs/1610.04124 · HTML: https://mlsanity.com/paper/1610.04124/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Oct 2016.

## Built on by (most cited first, 2 of 2)

- [When Multi-Task Learning Meets Partial Supervision: A Computer Vision Review](https://mlsanity.com/paper/2307.14382/) (2023)
- [StixelNExT: Toward Monocular Low-Weight Perception for Object Segmentation and Free Space Detection](https://mlsanity.com/paper/2407.08277/) (2024)

## Abstract (arXiv)

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.