Optimal Arc-Spline Approximation with Detecting Straight Sections. - Georg Maier; Andreas Schindler; Florian Janda; Stephan Brummer (ICCSA (2), 2013)

Evaluation of a mapping strategy based on smooth arc splines for different road types. - Stephan Brummer; Florian Janda; Georg Maier; Andreas Schindler (ITSC, 2013)

Numerically stable computation of circular visibility. - Stephan Brummer; Georg Maier; Tomas Sauer (CoRR, 2016)

Numerically robust computation of circular visibility. - Stephan Brummer; Georg Maier; Tomas Sauer (Comput. Aided Geom. Des., 2018)