Virtual 3D city model as a priori information source for vehicle localization system

•We present an outdoor vehicle geo-localization using the integration of a virtual 3D city model.•Pose computation using vision and laser scanner based approach.•Data fusion using IMM-UKF of GPS receiver, proprioceptive sensors, 2D/3D pose computation.•The developed approach has been tested on a real sequence.•The obtained results proved the robustness and feasibility of the approach.