Building a probabilistic grid-based road representation from direct and indirect visual cues. - Edoardo Casapietra; Thomas H. Weisswange; Christian Goerick; Franz Kummert; Jannik Fritsch (Intelligent Vehicles Symposium, 2015)

Enriching a spatial road representation with lanes and driving directions. - Edoardo Casapietra; Thomas H. Weisswange; Christian Goerick; Franz Kummert (ITSC, 2016)

Inferring a spatial road representation from the behavior of real world traffic participants. - Edoardo Casapietra; Thomas H. Weisswange; Christian Goerick; Franz Kummert (Intelligent Vehicles Symposium, 2016)

Behavior-based relative self-localization in intersection scenarios. - Benedict Flade; Edoardo Casapietra; Christian Goerick; Julian Eggert (ITSC, 2017)