stixel的定义就是路面上的障碍物标注成棒状像素
stixel的计算需要双目的视差和depth，但现在可以只用双目的视差就可以做
1.Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications：http://pdfs.semanticscholar.org/a10b/6eff75dfca1b51fbcfb0794950cb745e682e.pdf
这个是获得region proposal的一个paper
2.Fusion of Millimeter Wave Radar and Monocular Vision for Obstacle Detection Based on Rotor-Wing UAV
3.Monocular Vision Obstacle Detection Method Based on Radial Optical Flow for Rotor UAV
4.这篇论文可以看一下：https://blog.csdn.net/youmibuaa/article/details/79148401
5.Monocular vision based obstacle detection：https://journals.ut.ac.ir/article_64292_da45bd9b58ca6e6fba311d78d5f42e14.pdf
4和5有点类似
6.Fast Obstacle Detection for Monocular Autonomous Mobile Robots