Grid-based online road model estimation for advanced driver assistance systems. - Julian Thomas; Kai Stiens; Sebastian Rauch; Raúl Rojas 001 (Intelligent Vehicles Symposium, 2015)

Local elevation mapping based on low mounted lidar sensors with narrow vertical field of view. - Kai Stiens; Georg Tanzmeister; Dirk Wollherr (ITSC, 2016)

Local elevation mapping for automated vehicles using lidar ray geometry and particle filters. - Kai Stiens; Johannes Keilhacker; Georg Tanzmeister; Dirk Wollherr (Intelligent Vehicles Symposium, 2017)