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Urban localization method for mobile robots based on dead reckoning sensors, GPS, and map matching
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   http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6084031&url=http… [1880]

Yu-Cheol Lee, Christiand, Wonpil Yu, and Sunghoon Kim, Urban localization method for mobile robots based on dead reckoning sensors, GPS, and map matching,  Systems, Man, and Cybernetics (SMC), 2011 IEEE International Conference on, 9-12 Oct. 2011, Anchorage, AK.