ASSOCIATING MEASUREMENT POINTS TO SPLINE POINTS IN DETERMINATIONS OF A FREE SPACE BOUNDARY IN A VEHICLE ASSISTANCE SYSTEM

This document describes techniques and systems for associating measurement points to spline points in determining a free space boundary for a vehicle assistance system. An exemplified method includes obtaining a set of measurement points that define a subset of a free space boundary near a host vehicle. A parametric curve that approximates spatial information representing the free space boundary is also obtained. The parametric curve includes a plurality of spline samples. The method then includes determining, for each respective spline point of the plurality of spline samples, a respective measurement point of the set of measurement points that corresponds to the respective spline point. In this way, a more efficient technique is disclosed for a vehicle assistance system to associate measurement points to spline points that make up a parametric-curve representation of the free space boundary.