Accurate Global Localization Using Visual Odometry and Digital Maps on Urban Environments.
Ignacio Parra AlonsoDavid Fernández LlorcaMiguel GavilánSergio Alvarez PardoMiguel Ángel García GarridoLjubo B. VlacicMiguel Ángel SoteloPublished in: IEEE Trans. Intell. Transp. Syst. (2012)