Fig. 7From: Urban localization using robust filtering at multiple linearization pointsComparison of position error bounds and position error along the longitudinal direction for the wide street, one-sided building, and medium urban regions. The dashed red line separates the upper region where the bounds exceed position error and the lower region where the bounds are smaller. Our proposed approach demonstrates improved bounding performance as indicated by the majority of error bounds lying in the upper halfBack to article page