A perception system for accurate automatic control of an articulated bus

The authors acknowledge partial funding of this research under: Robocity2030-II S2009/DPI-1559 and IMADE PIE/62/2008 (Comunidad de Madrid, ALDESA CONSTRUCCIONES SA, MAXIMASDE); FORTUNA D/026706/09 (Agencia Espanola de Cooperacion Internacional para el Desarrollo, AECID). Dr. Hector Montes acknowledges support form Universidad Tecnologica de Panama and from CSIC under grant JAE-Doc.