@inproceedings{schreck2023height,
  abstract = {We present a novel method for free space detection in dynamic environments like factory sites, crucial for autonomous forklifts to avoid collisions. It introduces a technique for fast surface normal estimation using spherical projected LiDAR data, which helps in detecting free space efficiently and in real-time. The method's effectiveness is proven with a 50.90% mIoU score on the Semantic KITTI dataset at 105 Hz, and a 63.30% mIoU score on a factory site dataset at 54 Hz.},
  author = {Schreck, Steven and Reichert, Hannes and Hetzel, Manuel and Doll, Konrad and Sick, Bernhard},
  booktitle = {International Conference on Control, Mechatronics and Automation (ICCMA)},
  doi = {10.1109/ICCMA59762.2023.10374705},
  interhash = {d3c0bbf124344c070311798efc0d96cd},
  intrahash = {c68e47214fba4ebbe449b410278ca949},
  pages = {171--176},
  publisher = {IEEE},
  title = {Height Change Feature Based Free Space Detection},
  year = 2023
}