@inproceedings{ZivkSchoHeij2002,
author="Z.Zivkovic and A.Schoute and F.van der Heijden,
title="Combining a priori knowledge and sensor 
	information for updating the global position of an autonomous vehicle",
booktitle="Proceedings of The 8th Mechatronics Forum International Conference, Netherlands",
year=2002,
abstract="The problem of updating the global position of an 
autonomous vehicle is considered. An iterative procedure is 
proposed to fit a map to a set of noisy point measurements. 
The procedure is inspired by a non-parametric procedure for 
probability density function mode searching. We show how 
this could be used to solve the global position update 
problem in an efficient and robust way. The simple 
procedure combines the a priori knowledge from the known 
map of the environment, the extracted information from 
calibrated camera images and the information from the 
vehicle wheels rotation measurements. Because it is very 
simple the procedure is appropriate to be performed in 
real-time."
}