{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/free-space-estimation-using-occupancy-grids","title":"Free Space Estimation using Occupancy Grids and Dynamic Object Detection","arxiv_id":"1708.04989","date":"2017-08-16","proceeding":null,"authors":["Raghavender Sahdev"],"abstract":"In this paper we present an approach to estimate Free Space from a Stereo\nimage pair using stochastic occupancy grids. We do this in the domain of\nautonomous driving on the famous benchmark dataset KITTI. Later based on the\ngenerated occupancy grid we match 2 image sequences to compute the top view\nrepresentation of the map. We do this to map the environment. We compute a\ntransformation between the occupancy grids of two successive images and use it\nto compute the top view map. Two issues need to be addressed for mapping are\ndiscussed - computing a map and dealing with dynamic objects for computing the\nmap. Dynamic Objects are detected in successive images based on an idea similar\nto tracking of foreground objects from the background objects based on motion\nflow. A novel RANSAC based segmentation approach has been proposed here to\naddress this issue.","url_abs":"http://arxiv.org/abs/1708.04989v1","url_pdf":"http://arxiv.org/pdf/1708.04989v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"free-space-estimation-using-occupancy-grids","repo_url":"https://github.com/raghavendersahdev/Free-Space","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"object-detection","task_name":"Object Detection"},{"task_slug":"object-detection-1","task_name":"object-detection"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}