Towards Fully Autonomous Self-Supervised Free Space Estimation

Fully autonomous free space estimation is considered one of the holy grails of robotics research. Despite an abundance of algorithms tackling this problem, it is still considered an unsolved problem mainly due to the particularity of proposed algorithms to certain environments. This phenomenon is much more prominent in environments where the properties of free space vary, whether the variation was spatially or temporally. Algorithms tailored specifically to a certain environment are expected to perform rather poorly when the properties of the environment change. This project aims to solve this problem through developing a sustainable system able to reliably navigate harsh dynamic environments for a long time.
By: Ali Harakeh
Work continued by: Mahmoud Hamandi