Publications

Publications, preprints, and conference tutorials

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2026

Radar-Based Sparsity-Aware Dynamic Occupancy Grid Mapping

Peiyuan Zhai, Mingdong Dai, Geethu Joseph, Nitin Jonathan Myers, Ashish Pandharipande,
2026 IEEE SENSORS • 2026
Abstract
We present sparsity-aware Bayesian dynamic occupancy grid mapping algorithms that integrate temporal knowledge from past radar frames. The temporal prior support information is incorporated either by adapting the map prior mean or by adjusting model hyperparameters. Evaluations on the View-of-Delft dataset show improved mapping performance over static sparsity-aware mapping and baseline dynamic occupancy grid methods.
Talk
Visual summary for “Camera-Aided Binary Prior Support-Informed Occupancy Grid Mapping”

Camera-Aided Binary Prior Support-Informed Occupancy Grid Mapping

Peiyuan Zhai, Geethu Joseph, N. Jonathan Myers, Ashish Pandharipande,
IEEE Sensors Journal • 2026

2025
Visual summary for “Spatial Sparsity-Aware Radar-LiDAR Fusion for Occupancy Grid Mapping in Automotive Driving”

Spatial Sparsity-Aware Radar-LiDAR Fusion for Occupancy Grid Mapping in Automotive Driving

Peiyuan Zhai, Geethu Joseph, N. J. Myers, Cemalcan Onen, Ashish Pandharipande,
IEEE Sensors Journal • 2025

Accelerated Pattern-Coupled Sparse Bayesian Learning for Automotive Occupancy Mapping

Frank Harraway, Peiyuan Zhai, Geethu Joseph, Ashish Pandharipande,
IEEE Sensors Journal • 2025

Computationally-Efficient Sparsity-Aware Occupancy Grid Mapping for Automotive Driving

Frank Harraway, Peiyuan Zhai, Ashish Pandharipande, Geethu Joseph,
2025 IEEE SENSORS • 2025

2024

Sparsity-aware occupancy grid mapping for automotive driving using radar-LiDAR fusion

Peiyuan Zhai, Geethu Joseph, N. J. Myers, Cemalcan Onen, Ashish Pandharipande,
2024 IEEE SENSORS • 2024
Talk

2023
Visual summary for “Distributed Gaussian Process Hyperparameter Optimization for Multi-Agent Systems”

Distributed Gaussian Process Hyperparameter Optimization for Multi-Agent Systems

Peiyuan Zhai, R. T. Rajan,
2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) • 2023

2022

Distributed Gaussian Process for Multi-agent Systems

Peiyuan Zhai,
Delft University of Technology (Master thesis) • 2022
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