\begin{thebibliography}{40}
\providecommand{\natexlab}[1]{#1}
\providecommand{\url}[1]{\texttt{#1}}
\expandafter\ifx\csname urlstyle\endcsname\relax
  \providecommand{\doi}[1]{doi: #1}\else
  \providecommand{\doi}{doi: \begingroup \urlstyle{rm}\Url}\fi

\bibitem[Almeida(2010)]{O}
Jorge Manuel~Soares Almeida.
\newblock \emph{{Target tracking using laser range finder with occlusion}}.
\newblock Master thesis, University of Aveiro, 2010.
\newblock URL \url{http://lars.mec.ua.pt/public/LAR
  Projects/Perception/2010\_JorgeAlmeida/Documents/Tese\_MIEM\_Jorge\_Almeida.pdf}.

\bibitem[Andrews(2007)]{Andrews2007}
Angus~P Andrews.
\newblock \emph{{Global Positioning Systems , Inertial Navigation And
  Integration}}.
\newblock John Wiley \& Sons, Inc., second edi edition, 2007.
\newblock ISBN 9780470041901.
\newblock \doi{10.1002/0471200719}.

\bibitem[Azevedo(2014)]{De2014}
Rui Filipe~Cabral Azevedo.
\newblock \emph{{Sensor Fusion of LASER and Vision in Active Pedestrian
  Detection}}.
\newblock Master thesis, University of Aveiro, 2014.
\newblock URL \url{http://lars.mec.ua.pt/public/LAR
  Projects/Perception/2014\_RuiAzevedo/Dissertacao\_final\_50321.pdf}.

\bibitem[Baptiste(2015)]{Baptiste}
Jean Baptiste.
\newblock {Exclusive Interview: Ford CEO Expects Fully Autonomous Cars In 5
  Years - Forbes}.
\newblock
  http://www.forbes.com/sites/jeanbaptiste/2015/02/05/exclusive-interview-ford-ceo-expects-fully-autonomous-cars-in-5-years/2/,
  2015.
\newblock URL
  \url{http://www.forbes.com/sites/jeanbaptiste/2015/02/05/exclusive-interview-ford-ceo-expects-fully-autonomous-cars-in-5-years/2/}.

\bibitem[Bevly and Cobb(2010)]{Bevly2010}
David~M. Bevly and Stewart Cobb.
\newblock \emph{{GNSS for Vehicle Control}}.
\newblock Norwood, MA, 2010.
\newblock ISBN 159693302X.
\newblock URL
  \url{http://www.google.hr/books?hl=en\&lr=\&id=y2z8q-sfL9YC\&pgis=1}.

\bibitem[Durrant-whyte(2001)]{Durrant-whyte2001}
Hugh Durrant-whyte.
\newblock {A Critical Review of the State-of-the-Art in Autonomous Land Vehicle
  Systems and Technology}.
\newblock \emph{Sandia National Laboratories}, 2001.
\newblock URL
  \url{http://prod.sandia.gov/techlib/access-control.cgi/2001/013685.pdf}.

\bibitem[Geofabrik(2015)]{Geofabrik}
Geofabrik.
\newblock {OpenStreetMap Data Extracts}, 2015.
\newblock URL \url{http://download.geofabrik.de/}.

\bibitem[Geographyworldonline(2008)]{Geographyworldonline}
Geographyworldonline.
\newblock {Latitude-Longitude Map.jpg}, 2008.
\newblock URL
  \url{http://geographyworldonline.com/tutorial/latitudelongitude.jpg}.

\bibitem[Google(2015)]{GoogleDevelopers}
Google.
\newblock {Encoded Polyline Algorithm Format | Google Maps APIs | Google
  Developers}, 2015.
\newblock URL
  \url{https://developers.google.com/maps/documentation/utilities/polylinealgorithm}.

\bibitem[GraphHopper(2015)]{Gra2015}
GraphHopper.
\newblock {GraphHopper Directions API with Route Optimization}, 2015.
\newblock URL \url{https://graphhopper.com/}.

\bibitem[{Hewlett Packard}(2015)]{HP2015}
{Hewlett Packard}.
\newblock {HP ProLiant ML350p Generation 8 (Gen8) QuickSpecs}, 2015.
\newblock URL
  \url{http://www8.hp.com/h20195/v2/GetDocument.aspx?docname=c04128239}.

\bibitem[HP(2014{\natexlab{a}})]{HP}
HP.
\newblock {PC Desktop HP Pavilion Elite m9782pt}, 2014{\natexlab{a}}.
\newblock URL
  \url{http://support.hp.com/pt-pt/product/HP-Pavilion-Elite-m9000-Desktop-PC-series/3953004/model/4000500/product-info}.

\bibitem[HP(2014{\natexlab{b}})]{He2014}
HP.
\newblock {HP ProLiant ML350p Gen8 Server}, 2014{\natexlab{b}}.
\newblock URL
  \url{http://h22150.www2.hp.com/D46D5D2B-905A-42D0-8FCC-517CECEB4B3D/index.html\#overview}.

\bibitem[IEEE(2012)]{IEEE2012}
IEEE.
\newblock {IEEE - News Releases}, 2012.
\newblock URL
  \url{http://www.ieee.org/about/news/2012/5september\_2\_2012.html}.

\bibitem[James(2013)]{Barker}
Barker James.
\newblock {An Overview of the State of the Art in Autonomous Vehicle Technology
  and Policy}, 2013.
\newblock URL
  \url{http://www.law.washington.edu/Clinics/Technology/Reports/AutonomousVehicles.pdf}.

\bibitem[Jeffrey(2010)]{Jeffrey2010}
Charles Jeffrey.
\newblock \emph{{An Introduction to GNSS: GPS, GLONASS, Galileo and other
  Global Navigation Satellite Systems}}.
\newblock NovAtel Inc., Alberta,Canada, first edition, 2010.
\newblock ISBN 9780981375403.

\bibitem[Knight(2015)]{WillKn}
Will Knight.
\newblock {Vehicle-to-Vehicle Communications Will Save Lives on the Road | MIT
  Technology Review}, 2015.
\newblock URL
  \url{http://www.technologyreview.com/featuredstory/534981/car-to-car-communication/}.

\bibitem[Lepilleur(2015)]{Lepilleur}
Baptiste Lepilleur.
\newblock jsoncpp library, 2015.
\newblock URL \url{https://github.com/open-source-parsers/jsoncpp}.

\bibitem[Lopez(2015)]{Lope}
Roger Lopez.
\newblock {SwRI: Autonomous Vehicle Navigation}, 2015.
\newblock URL \url{http://www.swri.org/4org/d14/aerospace/path/auto.htm}.

\bibitem[Mapbox(2015)]{Mapbox}
Mapbox.
\newblock {Mapbox}, 2015.
\newblock URL \url{https://www.mapbox.com/}.

\bibitem[MapQuest(2015)]{Map}
MapQuest.
\newblock {MapQuest Developer Network}, 2015.
\newblock URL \url{https://developer.mapquest.com/}.

\bibitem[{Mapquest Inc.}(2015)]{MAPQUEST}
{Mapquest Inc.}
\newblock {MapQuest Platform Web Services : Compressed Lat/Lng
  Encoding/Decoding}, 2015.
\newblock URL \url{http://www.mapquestapi.com/common/encodedecode.html\#js}.

\bibitem[McBride(2008)]{McBride2008}
James McBride.
\newblock {State-of-the-Art Autonomous Vehicle Technology When I Joined Ford
  Motor Company...}
\newblock page~34, 2008.
\newblock URL
  \url{http://www.fieldrobotics.org/icra08workshop/Program\_files/12\_IVS.pdf}.

\bibitem[Morais(2014)]{RicardoM}
Ricardo Morais.
\newblock \emph{{Parametriza\c{c}\~{a}o de Algoritmos para Dete\c{c}\~{a}o de
  Estrada a Bordo do ATLASCAR}}.
\newblock Master thesis, University of Aveiro, 2014.
\newblock URL \url{http://lars.mec.ua.pt/public/LAR
  Projects/Perception/2014\_RicardoMorais/Disserta\%C3\%A7\%C3\%A3o/dissertation\_v0.pdf}.

\bibitem[NIIMS(2007)]{Incident}
NIIMS.
\newblock {Basic Land Navigation}.
\newblock Technical report, National Interagency Incident Management System,
  2007.
\newblock URL \url{http://www.nwcg.gov/pms/pubs/475/PMS475\_chap3.pdf}.

\bibitem[Nokia(2015)]{Nokia}
Nokia.
\newblock {Build applications with HERE Maps API and SDK Platform Access - HERE
  Developer}, 2015.
\newblock URL \url{https://developer.here.com/}.

\bibitem[Novatel(2014{\natexlab{a}})]{NovatelGNSS/INS}
Novatel.
\newblock {Combined GNSS/Inertial Navigation Systems . jpg},
  2014{\natexlab{a}}.
\newblock URL
  \url{http://www.novatel.com/an-introduction-to-gnss/chapter-4-advanced-gnss-concepts/combined-gnss-inertial-navigation-systems/}.

\bibitem[Novatel(2014{\natexlab{b}})]{NovatelSIA1}
Novatel.
\newblock {Novatel SPAN-IGM-A1}, 2014{\natexlab{b}}.
\newblock URL
  \url{http://www.novatel.com/assets/Web-Phase-2-2012/Product-Page-Images/Product-Images-Banner-and-Thumbnail/SPAN/\_resampled/SetWidth360-IGM-A1.png}.

\bibitem[Novatel(2015)]{Novatel}
Novatel.
\newblock {OEM4 \& OEMV USB Driver for Linux}, 2015.
\newblock URL
  \url{http://www.novatel.com/support/known-solutions/oem4-and-oemv-usb-driver-for-linux/}.

\bibitem[Oliveira(2012)]{AndreJoaoLopesOliveira}
Andr\'{e} Jo\~{a}o~Lopes Oliveira.
\newblock \emph{{Sistema de Monitoriza\c{c}\~{a}o da Condu\c{c}\~{a}o de um
  Autom\'{o}vel}}.
\newblock Master thesis, University of Aveiro, 2012.
\newblock URL \url{http://lars.mec.ua.pt/public/LAR
  Projects/Perception/2012\_AndreOliveira-@Artur/Tese final/Andre\_thesys.pdf}.

\bibitem[OpenStreetMap(2015)]{OpenStr2015}
OpenStreetMap.
\newblock {Planet OSM}, 2015.
\newblock URL \url{http://planet.openstreetmap.org/}.

\bibitem[Osborne(2013)]{Osborne2013}
Peter Osborne.
\newblock {The Mercator Projections}.
\newblock page 254, 2013.
\newblock URL \url{http://www.mercator99.webspace.virginmedia.com/}.

\bibitem[Pereira(2012)]{JO}
Joel~Filipe Pereira.
\newblock \emph{{Autonomous parking using 3D perception}}.
\newblock Master thesis, University of Aveiro, 2012.
\newblock URL \url{http://lars.mec.ua.pt/public/LAR
  Projects/RobotNavigation/2012\_JoelPereira/Tese\_escrita/Autonomous\_parking\_using\_3D\_perception.pdf}.

\bibitem[Pinho(2014)]{Sergio2014}
S\'{e}rgio Ant\'{o}nio~Matos Pinho.
\newblock \emph{{Caixa Autom\'{a}tica e Manobras Especiais no ATLASCAR}}.
\newblock Master thesis, University of Aveiro, 2014.
\newblock URL \url{http://lars.mec.ua.pt/public/LAR
  Projects/HardwareInterfaces/2014\_SergioPinho/documento/tese.pdf}.

\bibitem[Ramalhinho(2011)]{jramal}
Jo\~{a}o Ramalhinho.
\newblock {Accionamento Autom\'{a}tico do Acelerador de um Ve\'{\i}culo}.
\newblock Technical report, University of Aveiro, Aveiro, Portugal, 2011.
\newblock URL \url{http://lars.mec.ua.pt/public/LAR
  Projects/HardwareInterfaces/2011\_JoaoRamalhinho/relatorio\_acelerador\_ATLASCAR.pdf}.

\bibitem[Rocha(2011)]{TiagoNunesdaRocha}
Tiago~Nunes Rocha.
\newblock \emph{{Piloto Autom\'{a}tico para Controlo e Manobras de
  Navega\c{c}\~{a}o do AtlasCar}}.
\newblock Master thesis, University of Aveiro, 2011.
\newblock URL \url{http://lars.mec.ua.pt/public/LAR
  Projects/HardwareInterfaces/2011\_TiagoRocha/Tese/dissertacao\_final\_c\_anexos.pdf}.

\bibitem[Santos and Almeida(2010)]{Santos2010}
V.~Santos and J.~Almeida.
\newblock {ATLASCAR - technologies for a computer assisted driving system on
  board a common automobile}.
\newblock In \emph{13th International IEEE Conference on Intelligent
  Transportation Systems}, pages 1421--1427. IEEE, September 2010.
\newblock ISBN 978-1-4244-7657-2.
\newblock \doi{10.1109/ITSC.2010.5625031}.
\newblock URL
  \url{http://www.researchgate.net/publication/224190645\_ATLASCAR\_-\_Technologies\_for\_a\_computer\_assisted\_driving\_system\_on\_board\_a\_common\_automobile}.

\bibitem[Silva(2013)]{PedroBatistae}
Pedro Batista~e Silva.
\newblock \emph{{Visual Pedestrian Detection using Integral Channels for
  ADAS}}.
\newblock Master thesis, University of Aveiro, 2013.
\newblock URL \url{http://lars.mec.ua.pt/public/LAR
  Projects/Perception/2013\_PedroSilva/Disserta\%C3\%A7\%C3\%A3o/tese.pdf}.

\bibitem[{USGlobalSat Inc.}(2014)]{USGlobalSatInc.}
{USGlobalSat Inc.}
\newblock {USGlobalSat Inc. GPS-353-BU}, 2014.
\newblock URL
  \url{http://usglobalsat.com/p-62-bu-353-w.aspx\#images/product/large/62.jpg}.

\bibitem[Wikipedia(2015)]{HaverFormula}
Wikipedia.
\newblock {Haversine formula}, 2015.
\newblock URL \url{https://en.wikipedia.org/wiki/Haversine\_formula}.

\end{thebibliography}
