The work done in this internship consists in two main part. The first part is the design of an experimental platform to acquire data for testing and training. To design the experiments, onboard and onroad sensors have been considered. A calibration process has been conducted in order to integrated all the data from different sources. The second part was the use of a stereo system and a laser scanner to extract the free navigable space and to detect obstacles. This has been conducted through the use of an occupancy grid map representation.