This repository contains files for:

• Free Space computation using occupancy grids.
• Detection of dynamic objects using a RANSAC based segmentation of key points.
• Mapping of sequence of images from one occupancy grid to another.

Note: code is currently not clean and need to add a few things, to be updated soon.

click here for the arXiv paper https://arxiv.org/abs/1708.04989

please cite the paper as

Sahdev, Raghavender. "Free Space Estimation using Occupancy Grids and Dynamic Object Detection." arXiv preprint arXiv:1708.04989 (2017)

Bibtex citation:

@article{sahdev2017freespace,
          title={{Free Space Estimation using Occupancy Grids and Dynamic Object Detection},
          author={Sahdev, Raghavender},
          journal={arXiv preprint arXiv:1708.04989},
          year={2017}
}