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            <title xml:lang="fr">Localisation 3D d'un véhicule en milieu urbain par "Map Matching''</title>
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              <p>Cet article présente une méthode de localization de véhicules mobiles dans un espace à trois dimensions utilisant un couplage lâche de mesures GPS avec des données odométriques interprétées par un modèle cinématique 3D. Cette localisation est également améliorée par " Map Matching " à partir de données cartographiques 3D du réseau routier. La sélection du segment de route est effectuée en utilisant un algorithme d'estimation ensembliste et un filter de Kalman Étendu est utilisé pour l'estimation de la pose(position et attitude du véhicule dans un repère donné).</p>
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