Vehicle localization by sensor fusion of LRS measurement and odometry information based on moving horizon estimation. - Kazuki Kimura; Yutaro Hiromachi; Kenichiro Nonaka; Kazuma Sekiguchi (CCA, 2014)

EKF localization with variable covariance for LRS and odometry: Experimental verification. - Yutaro Hiromachi; Kenichiro Nonaka; Kazuma Sekiguchi (AMC, 2014)