Establishing grid map based on radar measurement
measurement obtained by 77GHz radar pose of the radar given by Vicon
inverse sensor model introduced by " Hammarsten, Markus and Viktor Runemalm, 3D localization and mapping using automotive radar [Dissertation], Gothenburg, Sweden, Chalmers University of Technology, 2016. "
More details in my master thesis "GRID MAPPING AND LOCALIZATION BASED ON MILLIMETER-WAVE RADAR/基于毫米波雷达的栅格地图建立与平台定位"