Pose fusion with chain pose graphs for automated driving. - Christian Merfels; Cyrill Stachniss (IROS, 2016)

Sensor fusion for localization of automated vehicles - Christian Merfels (2018)

Localization with Sliding Window Factor Graphs on Third-Party Maps for Automated Driving. - Daniel Wilbers; Christian Merfels; Cyrill Stachniss (ICRA, 2019)

A Comparison of Particle Filter and Graph-Based Optimization for Localization with Landmarks in Automated Vehicles. - Daniel Wilbers; Christian Merfels; Cyrill Stachniss (IRC, 2019)