@incollection{pueboobpaphan2006real,
  title={Real-time traffic state estimation on urban road network: the application of unscented Kalman filter},
  author={Pueboobpaphan, Rattaphol and Nakatsuji, Takashi},
  booktitle={Applications of Advanced Technology in Transportation},
  pages={542--547},
  year={2006}
}

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