Improved Semantic Stixels via Multimodal Sensor Fusion

Understand

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera.

• The proposed method is based on the well-established Stixel model originally developed for stereo vision applications.
• We extend this Stixel concept to incorporate data from multiple sensor modalities.
• The resulting mid-level fusion scheme takes full advantage of the geometric accuracy of LiDAR measurements as well as the high resolution and semantic detail of RGB images.