@article{trackletmappergroundsurfacesegmentation,
  title = {TrackletMapper: Ground Surface Segmentation and Mapping from Traffic Participant Trajectories},
  author = {Jannik Zürn and Sebastian Weber and Wolfram Burgard},
  year = {2022},
  eprint = {2209.05247},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.05247v4},
}