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Abstract
This thesis presents a high accuracy GPS - free vehicle localization framework to be used in collision avoidance applications. In contrast to the error - prone existing localization techniques, the approach proposed in this thesis deter - mines the vehicle location, up to lane - level accuracy via a single road side unit (RSU). By using one RSU, the cost of the localization system installation is reduced. The suggested framework integrates the information from the local Inertial navigation system (INS) and a single RSU via Kalman and extended kalman {uFB01}lters