human: Given a hyperedge-centered hypergraph: <hypergraph>, where the center hyperedge is induced by one source paper and its member nodes are the cited papers.

Details of the hypergraph:
Center hyperedge (induced by source paper "static free space detection with laser scanner using occupancy grid maps"):
  Abstract: Drivable free space information is vital for autonomous vehicles that have to plan evasive maneuvers in real-time. In this paper, we present a new efficient method for environmental free space detection with laser scanner based on 2D occupancy grid maps (OGM) to be used for Advanced Driving Assistance Systems (ADAS) and Collision Avoidance Systems (CAS). Firstly, we introduce an enhanced inverse sensor model tailored for high-resolution laser scanners for building OGM. It compensates the unreflected beams and deals with the ray casting to grid cells accuracy and computational effort problems. Secondly, we introduce the 'vehicle on a circle for grid maps' map alignment algorithm that allows building more accurate local maps by avoiding the computationally expensive inaccurate operations of image sub-pixel shifting and rotation. The resulted grid map is more convenient for ADAS features than existing methods, as it allows using less memory sizes, and hence, results into a better real-time performance. Thirdly, we present an algorithm to detect what we call the 'in-sight edges'. These edges guarantee modeling the free space area with a single polygon of a fixed number of vertices regardless the driving situation and map complexity. The results from real world experiments show the effectiveness of our approach.

Includes members:
  Member "multinet real time joint semantic reasoning for autonomous driving":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "self supervised learning for autonomous vehicles perception a conciliation between analytical and learning methods")
  Member "free space detection with self supervised and online trained fully convolutional networks":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "enhanced free space detection in multiple lanes based on single cnn with scene identification")

Question: Please tell me which class the source paper belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)