# Super Rays and Culling Region for Real-Time Updates on Grid-Based Occupancy Maps

> Research article (IEEE Transactions on Robotics, 2019) · cited 21× · AI/ML

**Wikidata**: [openalex:W2912587656](https://www.wikidata.org/wiki/openalex:W2912587656)  
**Source**: https://4ort.xyz/entity/super-rays-and-culling-region-for-real-time-updates-on-grid-based-occupancy-maps