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For the development of driving assistance systems and autonomous vehicles, a reference perception equipment including navigable space determination and obstacles detection is a key issue. The Velodyne sensor which provides high definition and omnidirectional information can be used for this purpose. Nevertheless, when scanning around the vehicle, uncertainty necessarily arises due to unperceived areas and noisy measurements. This paper proposes an inverse evidential model for the Velodyne indoi:10.1109/icarcv.2014.7064369 dblp:conf/icarcv/YuCB14 fatcat:4m6ghmjozjhsxn5ui3eilws2ie