Free space detection in point cloud

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Detecting the ground plane is a prior stage to obstacle avoidance systems for the visually impaired. The ground plane is where the visually impaired can move on.  Fully autonomous driving is an important but challenging goal, for which a reliable perception of the local environment is crucial. Accurate detection of the navigable space and classification of obstacles are key tasks for intelligent vehicles, to be able to estimate the risks on its path and the surrounding motion.