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.
