# ORFD: A Dataset and Benchmark for Off-Road Freespace Detection

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 78× · AI/ML

**Wikidata**: [openalex:W4283327872](https://www.wikidata.org/wiki/openalex:W4283327872)  
**Source**: https://4ort.xyz/entity/orfd-a-dataset-and-benchmark-for-off-road-freespace-detection