StixelSegmentation module

Module function

The StixelSegmentation module clusters columnar pixels and generates candidate object regions (Bounding Box).

Core function analysis

1. StixelZClustering(...)

• Function: Cluster Stixels according to depth (Z direction), preliminary grouping.

2. StixelXClustering(...)

• Function: Further subdivide the Stixel in the X direction to handle the separation of adjacent objects.

3. StixelBBboxOptimization(...)

• Function: Optimize the generated bounding box and filter out targets that are too small or unreasonable in size.

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Usage example

CStixelSegmentation segmentation(param);
segmentation.SegmentStixel(stixels);
vector<Object_t> bboxes = segmentation.m_vecobjBB;

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Notes

1. Distance Threshold: The distance threshold for Z-direction clustering has a significant impact on the grouping results (such as 2.0 meters).

2. Target filtering: Configure filtering rules according to actual scene requirements, such as aspect ratio restrictions.

For more details, please refer to Main Implementation Details.