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. 2016 Sep 9;16(9):1455. doi: 10.3390/s16091455

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© 2016 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).

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Urban environment test: Left: The reference path is manually drawn on the image taken from Google Earth. Right: The estimated trajectories obtained from the proposed algorithm.