Patch map: A benchmark for occupancy grid algorithm evaluation. - Rehman S. Merali; Timothy D. Barfoot (IROS, 2012)

Occupancy grid mapping with Markov Chain Monte Carlo Gibbs sampling. - Rehman S. Merali; Timothy D. Barfoot (ICRA, 2013)

Optimizing online occupancy grid mapping to capture the residual uncertainty. - Rehman S. Merali; Timothy D. Barfoot (ICRA, 2014)

MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior. - Rehman S. Merali; Timothy D. Barfoot (ICRA, 2021)