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The existing vehicular sensors of taxi companies in most of cities can be used for traffic monitoring, however sensors are always set with a long sampling interval because of communication cost saving and network congestion avoidance. In this paper, the authors focus on the traffic data processing in vehicular sensor networks providing sparse and incomplete information. A performance evaluation study has been carried out in Shanghai by utilizing the sensors installed on 4000 taxis. Two types of traffic status estimation algorithms, the link-based and the vehicle-based, are introduced based on such data basis.
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