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This paper deals with platooning navigation in the context of innovative solutions for urban transportation systems. More precisely, the case of a manually driven vehicle leading a convoy of automated ones is considered. Vehicle localization relies solely on monocular vision: a 3D map of the environment is built beforehand from reference video sequences, and then used to derive vehicle absolute location from the current camera image. The 3D vision map presents however distortions w.r.t. adoi:10.1109/ivs.2012.6232128 dblp:conf/ivs/AvanziniTM12 fatcat:a4bj7caqjnek7pf2i55eopapfq