ResearchBenchmarksCostmap Occupancy Estimation on CorridorCostmap Occupancy Estimation on CorridorFollow3,740Occupancy (cells)L+D+dyn1,369.841,985.172,600.53,215.83Mar 30, 2026Evaluation resultsMethodMethodLinksOccupancy (cells)Standard DeviationDelta (%)L+D+dynConfig=L+D+dyn (L+D +...Config=L+D+dyn (L+D + DYNAMIC INFLATION)2026.033,74032663L+DConfig=L+D (LIDAR + LE...Config=L+D (LIDAR + LEARNED MONOCULAR DEPTH)2026.033,54628355L+SConfig=L+S (LIDAR + HA...Config=L+S (LIDAR + HARDWARE DEPTH)2026.033,06130833LConfig=L (LIDAR)Config=L (LIDAR)2026.032,295312—D†Config=D† (LEARNED MON...Config=D† (LEARNED MONOCULAR DEPTH)2026.031,46115936