What if you utilized bus info on wheel rotation speed and steering displacement and created shape curves for various speeds and turns to normalize distance traveled on straights and turns based on speed, temperature and turn angle. And added a once daily ground truth reference point like recurrring parking spots? Could the wheels/tires and steering data create localization within tolerable limits?

Systems Engineer, Engineering/Program Management -- DoD/Aerospace/IT - Autonomous Systems Air & Ground, FAA Simulation, UAM, V2X, C4ISR, Cybersecurity