Making Bertha Drive - An Autonomous Journey on a Historic Route. - Julius Ziegler; Philipp Bender; Markus Schreiber; Henning Lategahn; Tobias Strauss; Christoph Stiller; Thao Dang 002; Uwe Franke; Nils Appenrodt; Christoph Gustav Keller; Eberhard Kaus; Ralf G. Herrtwich; et al. (IEEE Intell. Transp. Syst. Mag., 2014)

Fusion of doppler radar and geometric attributes for motion estimation of extended objects. - Peter Broßeit; Dominik Kellner; Carsten Brenk; Jürgen Dickmann (SDF, 2015)

Making Bertha See Even More: Radar Contribution. - Jürgen Dickmann; Nils Appenrodt; Jens Klappstein; Hans-Ludwig Blöcher; Marc M. Muntzinger; Alfons Sailer; Markus Hahn; Carsten Brenk (IEEE Access, 2015)