example1.bib

@incollection{parrilo2012chapter,
  title={Chapter 3: Polynomial Optimization, Sums of Squares, and Applications},
  author={Parrilo, Pablo A},
  booktitle={Semidefinite Optimization and Convex Algebraic Geometry},
  pages={47--157},
  year={2012},
  publisher={SIAM}
}

@Article{cooper2018ust20lx,
AUTHOR = {Cooper, Matthew A. and Raquet, John F. and Patton, Rick},
TITLE = {Range Information Characterization of the {H}okuyo {UST}-20{LX} {LIDAR} Sensor},
JOURNAL = {Photonics},
VOLUME = {5},
YEAR = {2018},
NUMBER = {2},
ARTICLE-NUMBER = {12},
URL = {http://www.mdpi.com/2304-6732/5/2/12},
ISSN = {2304-6732},
ABSTRACT = {This paper presents a study on the data measurements that the Hokuyo UST-20LX Laser Rangefinder produces, which compiles into an overall characterization of the LiDAR sensor relative to indoor environments. The range measurements, beam divergence, angular resolution, error effect due to some common painted and wooden surfaces, and the error due to target surface orientation are analyzed. It was shown that using a statistical average of sensor measurements provides a more accurate range measurement. It was also shown that the major source of errors for the Hokuyo UST-20LX sensor was caused by something that will be referred to as “mixed pixels”. Additional error sources are target surface material, and the range relative to the sensor. The purpose of this paper was twofold: (1) to describe a series of tests that can be performed to characterize various aspects of a LIDAR system from a user perspective, and (2) present a detailed characterization of the commonly-used Hokuyo UST-20LX LIDAR sensor.},
DOI = {10.3390/photonics5020012}
}

@INPROCEEDINGS{kawata2008urg,
author={ {Hirohiko Kawata} and {Kohei Miyachi} and {Yoshitaka Hara} and {Akihisa Ohya} and {Shin'ichi Yuta}},
booktitle={IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems},
title={A method for estimation of lightness of objects with intensity data from {SOKUIKI} sensor},
year={2008},
volume={},
number={},
pages={661-664},
keywords={laser ranging;optical sensors;intensity data;SOKUIKI sensor;received light intensity;laser range finders;Distance measurement;Robot sensing systems;Optical reflection;Optical sensors;Lasers;Measurement by laser beam;Voltage measurement},
doi={10.1109/MFI.2008.4648020},
ISSN={},
month={Aug},}

@inproceedings{okubo2009urg,
  title={Characterization of the {H}okuyo {URG}-04{LX} laser rangefinder for mobile robot obstacle negotiation},
  author={Okubo, Yoichi and Ye, Cang and Borenstein, Johann},
  booktitle={Unmanned Systems Technology XI},
  volume={7332},
  pages={733212},
  year={2009},
  organization={International Society for Optics and Photonics}
}

@INPROCEEDINGS{kneip2009urg,
author={L. {Kneip} and F. {Tache} and G. {Caprari} and R. {Siegwart}},
booktitle={2009 IEEE International Conference on Robotics and Automation},
title={Characterization of the compact Hokuyo URG-04LX 2D laser range scanner},
year={2009},
volume={},
number={},
pages={1447-1454},
keywords={calibration;laser ranging;optical sensors;compact Hokuyo URG-04LX 2D laser range scanner;Hokuyo URG-04LX 2D laser range finder;sensor specification;time drift effects;distance dependencies;target properties;incidence angle;tubelike environment;inspection robot;sensor orientation;lighting condition;calibration model;Sensor phenomena and characterization;Brightness;Robot sensing systems;Least squares approximation;Color;Optical materials;Inspection;Calibration;Fault diagnosis;Reflectivity},
doi={10.1109/ROBOT.2009.5152579},
ISSN={1050-4729},
month={May},}

@INPROCEEDINGS{ye2002char,
author={ {Cang Ye} and J. {Borenstein}},
booktitle={IEEE International Conference on Robotics and Automation},
title={Characterization of a 2D laser scanner for mobile robot obstacle negotiation},
year={2002},
volume={3},
number={},
pages={2512-2518 vol.3},
keywords={mobile robots;laser ranging;navigation;collision avoidance;Sick LMS 200;2D laser scanner;data transfer rate;target surface;incidence angle;range measurement model;mobile robot;3D map building;obstacle avoidance;Mobile robots;Laser radar;Laser modes;Laser noise;Least squares approximation;Laser theory;Lasers and electrooptics;Millimeter wave radar;Image sensors;Stereo vision},
doi={10.1109/ROBOT.2002.1013609},
ISSN={},
month={May},}

@article{campbell2014cwmod,
author = {Joel F. Campbell and Bing Lin and Amin R. Nehrir},
journal = {Appl. Opt.},
keywords = {Modulation techniques; DIAL, differential absorption lidar; Spectroscopy, laser; Fast Fourier transforms; Frequency modulation; Laser scattering; Modulation techniques; Optical amplifiers; Optical depth},
number = {5},
pages = {816--829},
publisher = {OSA},
title = {Advanced sine wave modulation of continuous wave laser system for atmospheric CO2 differential absorption measurements},
volume = {53},
month = {Feb},
year = {2014},
url = {http://ao.osa.org/abstract.cfm?URI=ao-53-5-816},
doi = {10.1364/AO.53.000816},
abstract = {In this theoretical study, modulation techniques are developed to support the Active Sensing of CO2 Emissions over Nights, Days, and Seasons (ASCENDS) mission. A continuous wave (CW) lidar system using sine waves modulated by maximum length (ML) pseudo-noise (PN) codes is described for making simultaneous online/offline differential absorption measurements. Amplitude and phase-shift keying (PSK) modulated intensity modulation (IM) carriers, in addition to a hybrid-pulse technique are investigated, which exhibit optimal autocorrelation properties. A method is presented to bandwidth limit the ML sequence based on a filter implemented in terms of Jacobi theta functions, which does not significantly degrade the resolution or introduce sidelobes as a means of reducing aliasing and IM carrier bandwidth.},
}

@INPROCEEDINGS{koenig2004gazebo,
author={N. {Koenig} and A. {Howard}},
booktitle={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
title={Design and use paradigms for Gazebo, an open-source multi-robot simulator},
year={2004},
volume={3},
number={},
pages={2149-2154 vol.3},
keywords={multi-robot systems;mobile robots;digital simulation;application program interfaces;control engineering computing;Gazebo;open-source multi-robot simulator;mobile robots;grained control;Player project;Stage project;Open source software;Educational robots;Vehicle dynamics;Robot sensing systems;Packaging;Computational modeling;Service robots;Mobile robots;Friction;Testing},
doi={10.1109/IROS.2004.1389727},
ISSN={},
month={Sep.},}

@inproceedings{todorov2012mujoco,
  title={Mujoco: A physics engine for model-based control},
  author={Todorov, Emanuel and Erez, Tom and Tassa, Yuval},
  booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={5026--5033},
  year={2012},
  organization={IEEE}
}

@article{agha2019crm,
author = {Ali-akbar Agha-mohammadi and Eric Heiden and Karol Hausman and Gaurav Sukhatme},
title ={Confidence-rich grid mapping},
journal = {The International Journal of Robotics Research},
year = {2019},
doi = {10.1177/0278364919839762},
URL = { 
        https://doi.org/10.1177/0278364919839762
},
eprint = { 
        https://doi.org/10.1177/0278364919839762
}
}

@ARTICLE{hornung13auro,
  author = {Armin Hornung and Kai M. Wurm and Maren Bennewitz and Cyrill
  Stachniss and Wolfram Burgard},
  title = {{OctoMap}: An Efficient Probabilistic {3D} Mapping Framework Based
  on Octrees},
  journal = {Autonomous Robots},
  year = 2013,
  url = {http://octomap.github.com},
  doi = {10.1007/s10514-012-9321-0},
  note = {Software available at \url{http://octomap.github.com}}
}

@inproceedings{ocallaghan2009contextual,
  title={Contextual occupancy maps using Gaussian processes},
  author={O'Callaghan, Simon and Ramos, Fabio T and Durrant-Whyte, Hugh},
  booktitle={International Conference on Robotics and Automation},
  pages={1054--1060},
  year={2009},
  organization={IEEE}
}

@inproceedings{newcombe2011kinectfusion,
	title={KinectFusion: Real-time dense surface mapping and tracking},
	author={Newcombe, Richard A and Izadi, Shahram and Hilliges, Otmar and Molyneaux, David and Kim, David and Davison, Andrew J and Kohi, Pushmeet and Shotton, Jamie and Hodges, Steve and Fitzgibbon, Andrew},
	booktitle={Mixed and augmented reality (ISMAR), 2011 10th IEEE international symposium on},
	pages={127--136},
	year={2011},
	organization={IEEE}
}

@PhdThesis{Elfes1989occupancy,
	title={Occupancy grids: A probabilistic framework for robot perception and navigation},
	author={Elfes, Alberto},
	year={1989},
	School={Carnegie Mellon University}
}

@article{moravec1988sensor,
	title={Sensor fusion in certainty grids for mobile robots},
	author={Moravec, Hans P},
	journal={AI magazine},
	volume={9},
	number={2},
	pages={61},
	year={1988}
}

@book{stachniss2009_book,
	title={Robotic mapping and exploration},
	author={Stachniss, Cyrill},
	volume={55},
	year={2009},
	publisher={Springer}
}

@article{thrun2002robotic,
	title={Robotic mapping: A survey},
	author={Thrun, Sebastian and others},
	journal={Exploring artificial intelligence in the new millennium},
	volume={1},
	pages={1--35},
	year = {2002}
}

@inproceedings{oleynikova2017voxblox,
  author={Oleynikova, Helen and Taylor, Zachary and Fehr, Marius and Siegwart, Roland and  Nieto, Juan},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning},
  year={2017}
}

@inproceedings{senanayake2017learning,
  title={Learning highly dynamic environments with stochastic variational inference},
  author={Senanayake, Ransalu and O'Callaghan, Simon and Ramos, Fabio},
  booktitle={International Conference on Robotics and Automation},
  pages={2532--2539},
  year={2017},
  organization={IEEE}
}

@article{ramos2016hilbert,
  title={Hilbert maps: scalable continuous occupancy mapping with stochastic gradient descent},
  author={Ramos, Fabio and Ott, Lionel},
  journal={The International Journal of Robotics Research},
  volume={35},
  number={14},
  pages={1717--1730},
  year={2016}
}

@InProceedings{gschwandtner2011blensor,
author="Gschwandtner, Michael
and Kwitt, Roland
and Uhl, Andreas
and Pree, Wolfgang",
editor="Bebis, George
and Boyle, Richard
and Parvin, Bahram
and Koracin, Darko
and Wang, Song
and Kyungnam, Kim
and Benes, Bedrich
and Moreland, Kenneth
and Borst, Christoph
and DiVerdi, Stephen
and Yi-Jen, Chiang
and Ming, Jiang",
title="BlenSor: Blender Sensor Simulation Toolbox",
booktitle="Advances in Visual Computing",
year="2011",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="199--208",
abstract="This paper introduces a novel software package for the simulation of various types of range scanners. The goal is to provide researchers in the fields of obstacle detection, range data segmentation, obstacle tracking or surface reconstruction with a versatile and powerful software package that is easy to use and allows to focus on algorithmic improvements rather than on building the software framework around it. The simulation environment and the actual simulations can be efficiently distributed with a single compact file. Our proposed approach facilitates easy regeneration of published results, hereby highlighting the value of reproducible research.",
isbn="978-3-642-24031-7"
}

@book{pharr2016pbrt,
  title={Physically based rendering: From theory to implementation},
  author={Pharr, Matt and Jakob, Wenzel and Humphreys, Greg},
  year={2016},
  publisher={Morgan Kaufmann}
}

@article{durst2011need,
  title={The need for high-fidelity robotics sensor models},
  author={Durst, Phillip J and Goodin, Christopher and Gates, Burhman Q and Cummins, Christopher L and McKinley, Burney and Priddy, Jody D and Rander, Peter and Browning, Brett},
  journal={Journal of Robotics},
  volume={2011},
  year={2011},
  publisher={Hindawi}
}

@article{feder1968diffrt,
author = {Donald P. Feder},
journal = {J. Opt. Soc. Am.},
keywords = {Image quality; Optical design; Optical surfaces; Ray tracing; Refractive index; Surfaces},
number = {11},
pages = {1494--1505},
publisher = {OSA},
title = {Differentiation of Ray-Tracing Equations with Respect to Construction Parameters of Rotationally Symmetric Optics},
volume = {58},
month = {Nov},
year = {1968},
url = {http://www.osapublishing.org/abstract.cfm?URI=josa-58-11-1494},
doi = {10.1364/JOSA.58.001494},
abstract = {In most methods of automatic optical design it is necessary to compute the derivatives of the traced rays with respect to construction parameters of the optical system. Exact differentiation of the algebraic formulae is the most accurate way to compute these derivatives. In a previous paper I gave such equations, but they contained an approximation for skew rays. In this paper, the approximation is removed and the method extended to conics and general surfaces of revolution.},
}

@article{giftthaler2017automatic,
  title={Automatic differentiation of rigid body dynamics for optimal control and estimation},
  author={Giftthaler, Markus and Neunert, Michael and St{\"a}uble, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas},
  journal={Advanced Robotics},
  volume={31},
  number={22},
  pages={1225--1237},
  year={2017},
  publisher={Taylor \& Francis}
}

@inproceedings{peres2018lcp,
  title={End-to-end differentiable physics for learning and control},
  author={de Avila Belbute-Peres, Filipe and Smith, Kevin and Allen, Kelsey and Tenenbaum, Josh and Kolter, J Zico},
  booktitle={Advances in Neural Information Processing Systems},
  pages={7178--7189},
  year={2018}
}

@article{heiden2019ids,
  author    = {Eric Heiden and
               David Millard and
               Hejia Zhang and
               Gaurav S. Sukhatme},
  title     = {Interactive Differentiable Simulation},
  journal   = {CoRR},
  volume    = {abs/1905.10706},
  year      = {2019},
  url       = {http://arxiv.org/abs/1905.10706},
  archivePrefix = {arXiv},
  eprint    = {1905.10706},
  timestamp = {Mon, 03 Jun 2019 13:42:33 +0200},
  biburl    = {https://dblp.org/rec/bib/journals/corr/abs-1905-10706},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

@Article{barthelemy1995autodiff,
author="Barthelemy, J. -F. M.
and Hall, L. E.",
title="Automatic differentiation as a tool in engineering design",
journal="Structural optimization",
year="1995",
month="Apr",
day="01",
volume="9",
number="2",
pages="76--82",
abstract="Automatic Differentiation (AD) is a tool that systematically implements the chain rule of differentiation to obtain the derivatives of functions calculated by computer programs. In this paper, it is assessed as a tool for engineering design. The paper discusses the forward and reverse modes of AD, their computing requirements, as well as approaches to implementing AD. It continues with the application of two different tools to two medium-size structural analysis problems to generate sensitivity information typically necessary in an optimization or design situation. The paper concludes with the observation that AD is to be preferred to finite differencing in most cases, as long as sufficient computer storage is available; in some instances, AD may be the alternative to consider in lieu of analytical sensitivity analysis.",
issn="1615-1488",
doi="10.1007/BF01758823",
url="https://doi.org/10.1007/BF01758823"
}

@book{corliss2002autodiff,
 editor = {Corliss, George and Faure, Christ\`{e}le and Griewank, Andreas and Hasco\"{e}t, Lauren and Naumann, Uwe},
 title = {Automatic Differentiation of Algorithms: From Simulation to Optimization},
 year = {2002},
 isbn = {0-387-95305-1},
 publisher = {Springer-Verlag New York, Inc.},
 address = {New York, NY, USA},
} 

@inproceedings{loper2014opendr,
  title={OpenDR: An approximate differentiable renderer},
  author={Loper, Matthew M and Black, Michael J},
  booktitle={European Conference on Computer Vision},
  pages={154--169},
  year={2014},
  organization={Springer}
}

@inproceedings{henderson18bmvc,
  title={Learning to Generate and Reconstruct 3D Meshes with only 2D Supervision},
  author={Paul Henderson and Vittorio Ferrari},
  booktitle={British Machine Vision Conference (BMVC)},
  year={2018}
}

@article{liu2019soft,
  title={Soft Rasterizer: Differentiable Rendering for Unsupervised Single-View Mesh Reconstruction},
  author={Liu, Shichen and Chen, Weikai and Li, Tianye and Li, Hao},
  journal={arXiv preprint arXiv:1901.05567},
  year={2019}
}

@inproceedings{li2018differentiable,
  title={Differentiable monte carlo ray tracing through edge sampling},
  author={Li, Tzu-Mao and Aittala, Miika and Durand, Fr{\'e}do and Lehtinen, Jaakko},
  booktitle={SIGGRAPH Asia 2018 Technical Papers},
  pages={222},
  year={2018},
  organization={ACM}
}

@book{shan2018topographic,
  title={Topographic laser ranging and scanning: principles and processing},
  author={Shan, Jie and Toth, Charles K},
  year={2018},
  publisher={CRC press}
}

@article{belmonte2000beamprop,
author = {Aniceto Belmonte},
journal = {Appl. Opt.},
keywords = {Atmospheric propagation; Atmospheric turbulence; Lidar; Coherent optical effects; Atmospheric turbulence; Electric fields; Power spectra; Spatial frequency; Turbulence effects; Wave propagation},
number = {30},
pages = {5426--5445},
publisher = {OSA},
title = {Feasibility study for the simulation of beam propagation: consideration of coherent lidar performance},
volume = {39},
month = {Oct},
year = {2000},
url = {http://ao.osa.org/abstract.cfm?URI=ao-39-30-5426},
doi = {10.1364/AO.39.005426},
abstract = {To analyze the effects of atmospheric refractive turbulence oncoherent lidar performance in a realistic way it is necessary toconsider the use of simulations of beam propagation inthree-dimensional random media. The capability of the split-stepsolution to simulate the propagation phenomena is shown, and thelimitations and numerical requirements for a simulation of givenaccuracy are established. Several analytical theories that describelaser beam spreading, beam wander, coherence diameters, and varianceand autocorrelation of the beam intensity are compared with resultsfrom simulations. Although the analysis stems from a study ofcoherent lidar performance, the conclusions of the method areapplicable to other areas related to beam propagation in theatmosphere.},
}

@article{breda2012experimental,
  title={Experimental measurement of parameters of the spatial scanner {H}okuyo {URG-04LX}},
  author={Breda, R},
  journal={Przeglad Elektrotechniczny},
  volume={88},
  number={5b},
  pages={132--135},
  year={2012}
}

@incollection{wehr2018lidar,
  title={LiDAR systems and calibration},
  author={Wehr, Aloysius},
  booktitle={Topographic laser ranging and scanning},
  pages={159--200},
  year={2018},
  publisher={CRC Press}
}

@incollection{jutzi2008waveform,
  title={Waveform analysis for small-footprint pulsed laser systems},
  author={Jutzi, Boris and Stilla, Uwe},
  booktitle={Topographic laser ranging and scanning},
  pages={233--252},
  year={2008},
  publisher={CRC Press}
}

@inproceedings{kawata2005urg,
  title={Development of ultra-small lightweight optical range sensor system},
  author={Kawata, Hirohiko and Ohya, Akihisa and Yuta, Shinichi and Santosh, Wagle and Mori, Toshihiro},
  booktitle={International Conference on Intelligent Robots and Systems},
  pages={1078--1083},
  year={2005},
  organization={IEEE/RSJ}
}

@article{cook1982reflectance,
  title={A reflectance model for computer graphics},
  author={Cook, Robert L and Torrance, Kenneth E.},
  journal={ACM Transactions on Graphics (TOG)},
  volume={1},
  number={1},
  pages={7--24},
  year={1982},
  publisher={ACM}
}

@article{carpenter2015stan,
  title={The Stan math library: Reverse-mode automatic differentiation in C++},
  author={Carpenter, Bob and Hoffman, Matthew D and Brubaker, Marcus and Lee, Daniel and Li, Peter and Betancourt, Michael},
  journal={arXiv preprint arXiv:1509.07164},
  year={2015}
}

@misc{ceres-solver,
  author = "Sameer Agarwal and Keir Mierle and Others",
  title = "Ceres Solver",
  howpublished = "\url{http://ceres-solver.org}",
}

@ARTICLE{besl1992icp,
author={P. J. {Besl} and N. D. {McKay}},
journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
title={A method for registration of 3-D shapes},
year={1992},
volume={14},
number={2},
pages={239-256},
keywords={computational geometry;convergence of numerical methods;iterative methods;optimisation;pattern recognition;picture processing;3D shape registration;pattern recognition;point set registration;iterative closest point;geometric entity;mean-square distance metric;convergence;geometric model;Solid modeling;Motion estimation;Iterative closest point algorithm;Iterative algorithms;Testing;Inspection;Shape measurement;Iterative methods;Convergence;Quaternions},
doi={10.1109/34.121791},
ISSN={},
month={Feb},}

@inproceedings{segal2009gicp,
  title={Generalized-{ICP}},
  author={Segal, Aleksandr and Haehnel, Dirk and Thrun, Sebastian},
  journal={Robotics Science and Systems},
  year={2009}
}

@INPROCEEDINGS{biber2003ndt,
author={P. {Biber} and W. {Strasser}},
booktitle={Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},
title={The normal distributions transform: a new approach to laser scan matching},
year={2003},
volume={3},
number={},
pages={2743-2748 vol.3},
keywords={normal distribution;image matching;optical scanners;mobile robots;tracking;normal distributions transform;laser scan matching;2D range scans;mapping algorithms;differentiable probability density;Newton algorithm;relative position tracking;simultaneous localization;map building;odometry data;Simultaneous localization and mapping;Gaussian distribution;Discrete transforms;Paints;Indoor environments;Mobile robots;Laser noise;Working environment noise;Probability;Iterative closest point algorithm},
doi={10.1109/IROS.2003.1249285},
ISSN={},
month={Oct},}

@InProceedings{rusu2011pcl,
  author    = {Radu Bogdan Rusu and Steve Cousins},
  title     = {{3D is here: Point Cloud Library (PCL)}},
  booktitle = {{IEEE International Conference on Robotics and Automation (ICRA)}},
  month     = {May 9-13},
  year      = {2011},
  address   = {Shanghai, China}
}

@article{NimierDavidVicini2019Mitsuba2,
    author = {Merlin Nimier-David and Delio Vicini and Tizian Zeltner and Wenzel Jakob},
    title = {Mitsuba 2: A Retargetable Forward and Inverse Renderer},
    journal = {Transactions on Graphics (Proceedings of SIGGRAPH Asia)},
    volume = {38},
    number = {6},
    year = {2019},
    month = nov,
    doi = {10.1145/3355089.3356498}
}

@inproceedings{veach1997metropolis,
  title={Metropolis light transport},
  author={Veach, Eric and Guibas, Leonidas J},
  booktitle={Proceedings of the 24th annual conference on Computer graphics and interactive techniques},
  pages={65--76},
  year={1997},
  organization={ACM Press/Addison-Wesley Publishing Co.}
}

@article{whitted1980integrator,
 author = {Whitted, Turner},
 title = {An Improved Illumination Model for Shaded Display},
 journal = {Commun. ACM},
 issue_date = {June 1980},
 volume = {23},
 number = {6},
 month = jun,
 year = {1980},
 issn = {0001-0782},
 pages = {343--349},
 numpages = {7},
 url = {http://doi.acm.org/10.1145/358876.358882},
 doi = {10.1145/358876.358882},
 acmid = {358882},
 publisher = {ACM},
 address = {New York, NY, USA},
 keywords = {computer animation, computer graphics, raster displays, shading, visible surface algorithms},
} 

@INPROCEEDINGS{rosenberger2018analysis,
author={P. {Rosenberger} and M. {Holder} and M. {Zirulnik} and H. {Winner}},
booktitle={2018 IEEE Intelligent Vehicles Symposium (IV)},
title={Analysis of Real World Sensor Behavior for Rising Fidelity of Physically Based Lidar Sensor Models},
year={2018},
volume={},
number={},
pages={611-616},
keywords={intelligent transportation systems;optical radar;remote sensing by laser beam;safety;sensors;physically based lidar sensor models;perception sensor models;sensor simulations;observable real world sensor behavior;AD;automated driving safety validation tests;physically-based lidar sensor models;Laser radar;Biological system modeling;Laser beams;Automotive engineering;Three-dimensional displays;Safety;Computational modeling},
doi={10.1109/IVS.2018.8500511},
ISSN={},
month={June},}