# Lane-Level Localization and Mapping in GNSS-Challenged Environments by Fusing Lidar Data and Cellular Pseudoranges

> Research article (IEEE Transactions on Intelligent Vehicles, 2018) · cited 65× · AI/ML

**Wikidata**: [openalex:W2904367728](https://www.wikidata.org/wiki/openalex:W2904367728)  
**Source**: https://4ort.xyz/entity/lane-level-localization-and-mapping-in-gnss-challenged-environments-by-fusing-lidar-data-and-cellular-pseudoranges