Matthias Roland Schmid Mirko Mählisch Jürgen Dickmann Hans-Joachim Wünsche Dynamic level of detail 3D occupancy grids for automotive use. 269-274 2010 Intelligent Vehicles Symposium https://doi.org/10.1109/IVS.2010.5548088 conf/ivs/2010 db/conf/ivs/ivs2010.html#SchmidMDW10