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The Road-aware Location Rectification process/feature has been introduced/developed/added to the blueprint. Figure of its process is shown as follows:
The internal procedure of Modified Kalman Filter is pictorially described as:
The vTrachea-store is as follows. Its schema is shown below. It shows the relationship between vehicular entities (vehicles, their traces) and road structural entities (roads, lanes, junctions). The figure is self-explanatory, and is as follows:
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