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Path shapes: an alternative method for map matching and fully autonomous self-localization

We propose a novel scheme for map matching and fully autonomous self-localization. Our scheme is based on the unique characteristics of the shape of paths in a road network. As uniqueness of path shapes comes as no surprise in a world of infinite precision, we develop robust means of comparing shapes of paths under imprecisions. Even under this fuzzy comparison model, path shapes turn out to be sufficiently characteristic to allow for map matching or fully autonomous self-localization. We design an efficient data structure which allows for very fast path shape queries.