@inproceedingsBevermeier_Peschke_Haeb-Umbach_2009, title=Robust vehicle localization based on multi-level sensor fusion and online parameter estimation, DOI=10.1109/WPNC.2009.4907833, booktitle=6th Workshop on Positioning Navigation and Communication (WPNC 2009), author=Bevermeier, Maik and Peschke, Sven and Haeb-Umbach, Reinhold, year=2009, pages=235–242