Abstract: A method for determining free-space in a surrounding environment of a vehicle equipped with an automated driving system, ADS. The method includes: obtaining an image depicting the surrounding environment of the vehicle; determining: for each reference point of a plurality of reference points in the image, segmentation data indicative of a confidence score of the reference point belonging to free-space and depth data indicative of a distance of each reference point relative the camera; assigning each reference point of the plurality of reference points to a cell of a plurality of cells in a grid, based on the depth data associated with each reference point of the plurality of reference points; and assigning an aggregated confidence score, based on the segmentation data associated with each reference point of the respective cell, thereby determining a free-space in the surrounding environment of the vehicle.

Abstract: A method for identifying free space in a surrounding of a vehicle is disclosed. The method includes obtaining image data by an image sensor wherein the image data depicts the surrounding of the vehicle, determining blocked pixels in the image data, determining blocked points linked to the blocked pixels by transforming the blocked pixels of an image plane of the image sensor into the blocked points in a ground plane of the surrounding, identifying blocked cells and non-blocked cells of an occupancy grid in the ground plane by determining the blocked points in the ground plane for different cells of the occupancy grid, and determining the free space around the vehicle based on the image data and status of the different cells in the occupancy grid, wherein the status of one of the different cells comprises either being one of the blocked cells or non-blocked cells.

Abstract: The present invention relates to a method performed in a vehicle equipped with an automated driving system. The method includes: obtaining an image sequence captured by an image capturing device of the vehicle, wherein the image sequence includes a plurality of images depicting a scene at a respective time instance of a plurality of time instances; obtaining a set of 3D points based on a depth map of the scene depicted in the image sequence, wherein each 3D point of the set of 3D points is associated with a three-dimensional position of the 3D point within the scene; determining motion data associated with each 3D point of the set of 3D points,; and assigning the set of 3D points with associated motion data to a free-space estimation of the scene, based on the three-dimensional position associated with each 3D point.

Abstract: A method for determining free-space in a surrounding environment of a vehicle equipped with an automated driving system, ADS. The method includes: obtaining an image depicting the surrounding environment of the vehicle; determining: for each reference point of a plurality of reference points in the image, segmentation data indicative of a confidence score of the reference point belonging to free-space and depth data indicative of a distance of each reference point relative the camera; assigning each reference point of the plurality of reference points to a cell of a plurality of cells in a grid, based on the depth data associated with each reference point of the plurality of reference points; and assigning an aggregated confidence score, based on the segmentation data associated with each reference point of the respective cell, thereby determining a free-space in the surrounding environment of the vehicle.