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In this paper we propose a novel algorithm for estimating the drivable collision-free space for autonomous navigation of on-road and on-water vehicles. In contrast to previous approaches that use stereo cameras or LIDAR, we show a method to solve this problem using a single camera. Inspired by the success of many vision algorithms that employ dynamic programming for efficient inference, we reduce the free space estimation task to an inference problem on a 1D graph, where each node represents adoi:10.1109/wacv.2015.62 dblp:conf/wacv/YaoRTMU15 fatcat:4thuxhdtx5gb5eo3qady4z2xky