Abstract: Our second attempt at using stixels for navigation and exploring its computational properties. This time we integrate with our egocircle representation and explore two different approaches to realizing local-global navigation. Computational scaling and navigation benchmark tests indicate that stixel navigation can be used across a variety of onboard computing platforms for mobile robots.

Abstract: Stixels are an intermediate stereo representation for the world. The basic version models the world as sticks rising from the ground plane, which makes it a potentially lossy representation (overhanging or floating obstacles might be missed). As an intermediate representation, it can be used for ego-centric navigation.