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The need to accurately estimate the speed of road vehicles is becoming increasingly important for at least two main reasons. First, the number of speed cameras installed worldwide has been growing in recent years, as the introduction and enforcement of appropriate speed limits are considered one of the most effective means to increase the road safety. Second, traffic monitoring and forecasting in road networks plays a fundamental role to enhance traffic, emissions and energy consumption indoi:10.1049/itr2.12079 fatcat:cntntyyl5vgz3ipy7f6pvj5k3y