Improving Multisensor Positioning of Land Vehicles with Integrated Visual Odometry for Next-Generation Self-Driving Cars

Figure 9

Outage portions overlaid on map.

(a) Traj. 1 VTI Outage 3

(b) Traj. 3 VTI Outage 3

(c) Traj. 3 VTI Outage 4

(d) Traj. 2 Xbow Outage 8

(e) Traj. 3 Xbow Outage 3

(f) Traj. 3 Xbow Outage 4