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  ____     _    _      _____   _    _    __   _   
 |  _ \\  | || | ||   / ___// | || | || | || | || 
 | |_| || | || | ||   \___ \\ | || | || | '--' || 
 | .  //  | \\_/ ||   /    // | \\_/ || | .--. || 
 |_|\_\\   \____//   /____//   \____//  |_|| |_|| 
 `-` --`    `---`   `-----`     `---`   `-`  `-`

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Text this: Energy minimization approach for negative obstacle region detection