Tools: OpenCV 2.4, C++, CUDA.
This impelementaion is based on Free Space Computation Using Stochastic Occupancy Grids and Dynamic Programming with some modifications.
The code is tested with Zed stereo camera and nvidia jetson tk1, and the parameters depend on the camera(calibraion) and the position of the camera.
This repo is still under development.
To make cpu and gpu code
type make then make run
To make CPU only, remove #define GPU from main.cpp
type make cpu then make run_cpu
To make GPU only, remove #define CPU from main.cpp
type make gpu then make run_gpu
Input image and its Depth
Polar Occypancy Grid with different sizes
Cartesian Occypancy Grid with different sizes
Segmentation of polar grid
Thresholding
Free space
Dynamic programming
Free space
GPU Implementation
