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In this system paper, we propose a real-time car localisation process in dense urban areas by using a single perspective camera and a priori on the environment. To tackle this problem, it is necessary to solve two well-known monocular SLAM limitations: scale factor drift and error accumulation. The proposed idea is to combine a monocular SLAM process based on bundle adjustment with simple knowledge, i.e. the position and orientation of the camera with regard to the road and a coarse 3D model ofdoi:10.1109/cvpr.2010.5540127 dblp:conf/cvpr/LotheBRDN10 fatcat:cm74jezhgfacdpueobqqff32sy