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The number and heterogeneity of traffic sensors are steadily increasing. A large part of the emerging sensors are measuring point speeds or travel times and in order to make efficient use of this data, it is important to develop methods and frameworks for fusion of point speed and travel time measurements in real-time. The proposed method combines a macroscopic traffic model and a non-linear filter with a new measurement model for fusion of travel time observations in a system that uses thedoi:10.1109/itsc.2015.343 dblp:conf/itsc/GundlegardABBR15 fatcat:wu6tbmgcp5efbcyxk7jl5m5iiu