Mirko Mählisch Rudiger Hering Werner Ritter Klaus Dietmayer Heterogeneous Fusion of Video, LIDAR and ESP Data for Automotive ACC Vehicle Tracking. 139-144 2006 MFI https://doi.org/10.1109/MFI.2006.265593 conf/mfi/2006 db/conf/mfi/mfi2006.html#MahlischHRD06