Systems and methods for extracting regions from occupancy grids are provided. One example method includes performing a plurality of assignment iterations. Each assignment iteration includes assigning each of a first plurality of cells to one of a plurality of centroids based on a cost formula such that a plurality of regions respectively associated with the plurality of centroids are formed. The region for each centroid comprises all of the cells assigned to such centroid. Each assignment iteration includes reassigning one or more of the first plurality of cells to one or more respective alternate regions. The one or more reassigned cells were included in one or more problem areas of one or more of the plurality of regions. Each assignment iteration includes relocating the plurality of centroids to be the respective means of the plurality of regions. One example system includes computing devices implementing instructions stored on non-transitory computer-readable media.