M. Darms, Perception for automated and assisted driving, 2015.

H. Moravec and A. Elfes, High resolution maps from wide angle sonar, Proceedings. 1985 IEEE International Conference on Robotics and Automation, 1985.
DOI : 10.1109/ROBOT.1985.1087316

A. Elfes, Occupancy grids: A probabilistic framework for robot perception and navigation, p.9006205, 1989.
DOI : 10.1109/2.30720

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

T. Rakotovao, Multi-sensor fusion of occupancy grids based on integer arithmetic, 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016.
DOI : 10.1109/ICRA.2016.7487330

URL : https://hal.archives-ouvertes.fr/cea-01273335

S. Gnecchi, SiPM Sensors for ToF Ranging Applications, SPIE Photonics West, 2016.

B. Yamauchi, Fusing ultra-wideband radar and lidar for small UGV navigation in all-weather conditions, Unmanned Systems Technology XII, 2010.
DOI : 10.1117/12.850386