{"id":"https://openalex.org/W2022829229","doi":"https://doi.org/10.1109/ipin.2010.5646861","title":"Dual IMU Indoor Navigation with particle filter based map-matching on a smartphone","display_name":"Dual IMU Indoor Navigation with particle filter based map-matching on a smartphone","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W2022829229","doi":"https://doi.org/10.1109/ipin.2010.5646861","mag":"2022829229"},"language":"en","primary_location":{"id":"doi:10.1109/ipin.2010.5646861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin.2010.5646861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 International Conference on Indoor Positioning and Indoor Navigation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044610333","display_name":"Christian Ascher","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"C. Ascher","raw_affiliation_strings":["Institute of Systems Optimization, Karlsruhe Institute of Technology, Germany","Karlsruhe Institute of Technology, Institute of Systems Optimization, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Systems Optimization, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology, Institute of Systems Optimization, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101803885","display_name":"Christoph Ke\u00dfler","orcid":"https://orcid.org/0000-0003-1565-4712"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Kessler","raw_affiliation_strings":["Institute of Systems Optimization, Karlsruhe Institute of Technology, Germany","Karlsruhe Institute of Technology, Institute of Systems Optimization, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Systems Optimization, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology, Institute of Systems Optimization, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058170022","display_name":"Matthias Wankerl","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Wankerl","raw_affiliation_strings":["Institute of Systems Optimization, Karlsruhe Institute of Technology, Germany","Karlsruhe Institute of Technology, Institute of Systems Optimization, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Systems Optimization, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology, Institute of Systems Optimization, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075440290","display_name":"Gert F. Trommer","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G.F. Trommer","raw_affiliation_strings":["Institute of Systems Optimization, Karlsruhe Institute of Technology, Germany","Karlsruhe Institute of Technology, Institute of Systems Optimization, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Systems Optimization, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology, Institute of Systems Optimization, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5044610333"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":4.9069,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.95269695,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7593245506286621},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.7404183745384216},{"id":"https://openalex.org/keywords/map-matching","display_name":"Map matching","score":0.7145105600357056},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7104827165603638},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6803098917007446},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6173126101493835},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5887665152549744},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.5661996006965637},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5598111152648926},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5536198019981384},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.49114128947257996},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34722191095352173},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3381257951259613},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.21365565061569214},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.20463231205940247},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16756516695022583},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.1392352283000946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09312084317207336},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08889693021774292}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7593245506286621},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.7404183745384216},{"id":"https://openalex.org/C2778559875","wikidata":"https://www.wikidata.org/wiki/Q1892023","display_name":"Map matching","level":3,"score":0.7145105600357056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7104827165603638},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6803098917007446},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6173126101493835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5887665152549744},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.5661996006965637},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5598111152648926},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5536198019981384},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.49114128947257996},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34722191095352173},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3381257951259613},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.21365565061569214},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.20463231205940247},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16756516695022583},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.1392352283000946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09312084317207336},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08889693021774292},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ipin.2010.5646861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin.2010.5646861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 International Conference on Indoor Positioning and Indoor Navigation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1728881569","https://openalex.org/W2020602155","https://openalex.org/W2134819687","https://openalex.org/W2144204162","https://openalex.org/W2147402755","https://openalex.org/W2492228853","https://openalex.org/W2659496181","https://openalex.org/W3143816839","https://openalex.org/W4230111632","https://openalex.org/W6739334579","https://openalex.org/W7037768099"],"related_works":["https://openalex.org/W2125871801","https://openalex.org/W2738165626","https://openalex.org/W1585960250","https://openalex.org/W2123849027","https://openalex.org/W2120540633","https://openalex.org/W2369272984","https://openalex.org/W2133062384","https://openalex.org/W2355920574","https://openalex.org/W2050041763","https://openalex.org/W2048487702"],"abstract_inverted_index":{"In":[0],"this":[1,50],"paper":[2,78],"an":[3,24,28,38,42,53,102],"Indoor":[4],"Navigation":[5,31],"System":[6],"with":[7,44,52,118,124],"map-matching":[8],"capabilities":[9],"in":[10,74,91],"real-time":[11,99],"on":[12,34,85,109,172],"a":[13,45,80,86,142,173],"smart":[14,174],"phone":[15],"is":[16,23],"presented.":[17],"The":[18],"basis":[19],"of":[20,27,67,141],"the":[21,110,131,139,149],"system":[22,51],"in-house":[25],"development":[26],"Integrated":[29],"Pedestrian":[30],"System,":[32],"based":[33,84],"2":[35],"low-cost":[36],"IMUs,":[37],"electronic":[39],"compass":[40],"and":[41,57,157],"altimeter":[43],"drifting":[46],"navigation":[47],"solution.":[48],"Combining":[49],"additional":[54],"laser":[55,104],"ranger":[56,105],"SLAM":[58,121],"algorithms,":[59],"we":[60,137],"are":[61],"able":[62],"to":[63,93,129,151,154,167],"build":[64],"accurate":[65],"maps":[66,96,122],"office":[68],"buildings":[69],"for":[70,98],"already":[71,125],"visited":[72],"rooms":[73],"post":[75],"processing.":[76],"This":[77,161],"presents":[79],"map":[81,156,169],"matching":[82,170],"algorithm":[83],"new":[87,143,162],"reduced":[88],"particle":[89,135],"filter":[90],"order":[92],"use":[94,140],"these":[95],"later":[97],"applications":[100],"without":[101],"expensive":[103],"but":[106],"relying":[107],"only":[108],"dual":[111],"inertial":[112],"system.":[113],"It":[114],"can":[115],"be":[116],"used":[117],"both,":[119,155],"preprocessed":[120],"or":[123],"available":[126],"maps.":[127],"Finally":[128],"smooth":[130],"resulting":[132],"trajectory":[133,150],"after":[134],"filtering":[136],"propose":[138],"\u201cbalanced":[144],"bubble":[145],"band":[146],"smoother\u201d":[147],"allowing":[148],"optimally":[152],"match":[153],"recorded":[158],"IMU":[159],"data.":[160],"approach":[163],"makes":[164],"it":[165],"possible":[166],"do":[168],"online":[171],"phone.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
