• 한국자동차공학회논문집
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• 제23권6호
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• pp.565-574
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• 2015

Recently, a medium-level representation named "Stixel" has been extensively researched in stereo vision-based 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.