Tram Localization using Soft-Constrained Iterated Kalman Filter with Optimal Step Size Control. - Vít Fanta; Vladimír Havlena; Zdenek Hurák (MFI, 2024)

Tram Positioning with Map-Enabled GNSS Data Reconciliation. - Jakub Kaspar; Vít Fanta; Vladimír Havlena (CoRR, 2025)