Freeway Multisensor Data Fusion Approach Integrating Data from Cellphone Probes and Fixed Sensors

Figure 6

Results of data fusion method.

(a) Speed from the data fusion method (southbound)

(b) The ground truth (southbound)

(c) Speed from cellular handoff probe system (southbound)

(d) Speed from the data fusion method (northbound)

(e) The ground truth (northbound)

(f) Speed from cellular handoff probe system (northbound)