Algorithm 4 Algorithm of Stixels Estimation

A pixel-wise cost volume $C_{ijk}={\Vert p_{ij}-p_{i(j-k+2)}\Vert }_1$ is computed from the input rectified stereo images; Generating the v-disparity image and detecting the ground plane on it; Generating the cost matrices $c_o={\displaystyle \sum _{v(k)}c(i,j,k)}$, $c_g={\displaystyle \sum _{\left|V\right|}c\left(i,j,f_{ground}(k)\right)},v(k)=f_{ground}^{-1}(k)$; The estimated stixel disparities are used to estimate the stixel heights $c_h={\displaystyle \sum _{v(k)}\left|c_o-1\right|}+{\displaystyle \sum _{v(k)}\left|c_o+1\right|}$.