Localization with respect to a reference model is a key feature for mobile robots. Urban environment offers numerous landmarks that can be used for the localization process. This paper deals with the use of an environment model stored in a geographic information system, to drive a vision system i.e. highlights what to look for and where to look for. This task is achieved by propagating uncertainties along the image acquisition system to highlight some region of interest in the image.
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Kais et al. (2005) studied this question.