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Vehicles must be able to localize themselves in all environments (unmapped and mapped) including urban and indoor areas where Global Navigation Satellite Systems (GNSS) performance may degrade. The research and development in this thesis cover three major localization techniques that use an assortment of sensors to achieve this. In urbandoi:10.22215/etd/2020-14148 fatcat:zbk4nnnc4jhm5p7kuwt4vjsoje