Abstract: Described herein are various technologies pertaining to a computing system for obstacle detection for an autonomous vehicle. The computing system receives a point cloud generated by a sensor of the autonomous vehicle. The computing system then forms a ground surface mesh based upon the point cloud. The ground surface mesh can be representative of location of ground relative to the sensor. The computing system further computes a likelihood that an object exists within a potential travel path of the autonomous vehicle based upon the ground surface mesh. The computing system yet further controls at least one of a braking system, a steering system, or a propulsion system of the autonomous vehicle based upon the likelihood that the object exists within the potential travel path.