A Low-Cost Lane-Determination System Using GNSS/IMU Fusion and HMM-Based Multistage Map Matching. - Mohamed Maher Atia; Allaa R. Hilal; Clive Stellings; Eric Hartwell; Jason Toonstra; William B. Miners; Otman A. Basir (IEEE Trans. Intell. Transp. Syst., 2017)