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Contrary to classical extended Kalman filtering it allows global localization, and contrary to particle filtering it provides guaranteed results in the sense that a set is computed that contains all of the configurations that are consistent with the data and hypotheses. This paper presents a real-time implementation of the process including a description of the platform and its modeling, the integration of the errors on the model and the localization method itself.<\/jats:p>","DOI":"10.1177\/0278364908096237","type":"journal-article","created":{"date-parts":[[2009,1,5]],"date-time":"2009-01-05T07:13:19Z","timestamp":1231139599000},"page":"34-48","source":"Crossref","is-referenced-by-count":42,"title":["Real-time Bounded-error State Estimation for Vehicle Tracking"],"prefix":"10.1177","volume":"28","author":[{"given":"E.","family":"Seignez","sequence":"first","affiliation":[{"name":"Institut d'\u00c9lectronique Fondamentale CNRS, Universit\u00e9 Paris-Sud, F-91400 Orsay, France,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"M.","family":"Kieffer","sequence":"additional","affiliation":[{"name":"Laboratoire des Signaux et Syst\u00e8mes CNRS, Sup\u00e9lec Universit\u00e9 Paris-Sud, Plateau de Moulon, F-91192 Gif-sur-Yvette, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"A.","family":"Lambert","sequence":"additional","affiliation":[{"name":"Institut d'\u00c9lectronique Fondamentale CNRS, Universit\u00e9 Paris-Sud, F-91400 Orsay, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"E.","family":"Walter","sequence":"additional","affiliation":[{"name":"Laboratoire des Signaux et Syst\u00e8mes CNRS, Sup\u00e9lec Universit\u00e9 Paris-Sud, Plateau de Moulon, F-91192 Gif-sur-Yvette, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"T.","family":"Maurin","sequence":"additional","affiliation":[{"name":"Institut d'\u00c9lectronique Fondamentale CNRS, Universit\u00e9 Paris-Sud, F-91400 Orsay, France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2009,1,1]]},"reference":[{"key":"atypb1","volume-title":"Optimal Filtering","author":"Anderson, B.","year":"1979"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1971.1099674"},{"key":"atypb4","volume-title":"Navigating Mobile Robots: Systems and Techniques","author":"Borenstein, J.","year":"1996"},{"key":"atypb5","volume-title":"Proceedings of the IEEE International Conference on Intelligent Vehicle (IV)","author":"Bouaziz, S."},{"key":"atypb6","volume-title":"A proposal to add interval arithmetic to the C++ standard library. 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