From Particles to Self-Localizing Tracklets: A Multilayer Particle Filter-Based Estimation for Dynamic Grid Maps. - Andrei Vatavu; Melissa Rahm; Suresh Govindachar; Gunther Krehl; Abhishek Mantha; Sagar Ravi Bhavsar; Manuel Schier; Janis Peukert; Michael Maile (IEEE Intell. Transp. Syst. Mag., 2020)