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)

HD Map Generation from Noisy Multi-Route Vehicle Fleet Data on Highways with Expectation Maximization. - Fabian Immel; Richard Fehler; Mohammad M. Ghanaat; Florian Ries; Martin Haueis; Christoph Stiller (IV, 2023)