{"id":"https://openalex.org/W2525989248","doi":"https://doi.org/10.1109/iros.2016.7759302","title":"Keyframe based large-scale indoor localisation using geomagnetic field and motion pattern","display_name":"Keyframe based large-scale indoor localisation using geomagnetic field and motion pattern","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2525989248","doi":"https://doi.org/10.1109/iros.2016.7759302","mag":"2525989248"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100350760","display_name":"Sen Wang","orcid":"https://orcid.org/0000-0003-1537-8834"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sen Wang","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053684989","display_name":"Hongkai Wen","orcid":"https://orcid.org/0000-0003-1159-090X"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongkai Wen","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054998594","display_name":"Ronald Clark","orcid":"https://orcid.org/0000-0002-6344-5299"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ronald Clark","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010637110","display_name":"Niki Trigoni","orcid":"https://orcid.org/0000-0001-6236-9645"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Niki Trigoni","raw_affiliation_strings":["Department of Computer Science, University of Oxford, Oxford, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":8.8798,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.99003944,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1910","last_page":"1917"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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":1.0,"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":0.9998999834060669,"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":0.996399998664856,"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/computer-science","display_name":"Computer science","score":0.7693305015563965},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6156049966812134},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6109030842781067},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5641080737113953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5542362928390503},{"id":"https://openalex.org/keywords/floor-plan","display_name":"Floor plan","score":0.5014858245849609},{"id":"https://openalex.org/keywords/laser-scanning","display_name":"Laser scanning","score":0.4820419251918793},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.43382593989372253},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.42086246609687805},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.4153679609298706},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25781673192977905},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20770645141601562},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.18744924664497375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10512420535087585},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0985422432422638}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7693305015563965},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6156049966812134},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6109030842781067},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5641080737113953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5542362928390503},{"id":"https://openalex.org/C61056293","wikidata":"https://www.wikidata.org/wiki/Q18965","display_name":"Floor plan","level":2,"score":0.5014858245849609},{"id":"https://openalex.org/C141349535","wikidata":"https://www.wikidata.org/wiki/Q1361664","display_name":"Laser scanning","level":3,"score":0.4820419251918793},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43382593989372253},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.42086246609687805},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.4153679609298706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25781673192977905},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20770645141601562},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.18744924664497375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10512420535087585},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0985422432422638},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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":2,"locations":[{"id":"doi:10.1109/iros.2016.7759302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:6919d13b-b6cb-44e9-ad20-89819dbd822c","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:6919d13b-b6cb-44e9-ad20-89819dbd822c","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference item"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6600000262260437}],"awards":[{"id":"https://openalex.org/G2483205037","display_name":null,"funder_award_id":"EP/M019918/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1947853012","https://openalex.org/W1967653388","https://openalex.org/W1986802839","https://openalex.org/W1991295181","https://openalex.org/W1999399477","https://openalex.org/W2013311872","https://openalex.org/W2018496305","https://openalex.org/W2018589614","https://openalex.org/W2021629815","https://openalex.org/W2064972261","https://openalex.org/W2068546584","https://openalex.org/W2077552673","https://openalex.org/W2088681682","https://openalex.org/W2088739204","https://openalex.org/W2116068514","https://openalex.org/W2122305929","https://openalex.org/W2184130642","https://openalex.org/W2202924443","https://openalex.org/W2212334805","https://openalex.org/W2494980014","https://openalex.org/W2964103707","https://openalex.org/W4240592325","https://openalex.org/W4300495886","https://openalex.org/W6654920567","https://openalex.org/W6686375008","https://openalex.org/W6693492908"],"related_works":["https://openalex.org/W2770234245","https://openalex.org/W96612179","https://openalex.org/W4229499248","https://openalex.org/W2566006169","https://openalex.org/W1567818861","https://openalex.org/W2987774938","https://openalex.org/W4256492088","https://openalex.org/W632915154","https://openalex.org/W2635149171","https://openalex.org/W2422809659"],"abstract_inverted_index":{"This":[0,57],"paper":[1,58],"studies":[2],"indoor":[3,15,104],"localisation":[4,16,34,115],"problem":[5],"by":[6],"using":[7],"low-cost":[8,82],"and":[9,68,80,95],"pervasive":[10],"sensors.":[11],"Most":[12],"of":[13,53],"existing":[14],"algorithms":[17],"rely":[18],"on":[19],"camera,":[20],"laser":[21],"scanner,":[22],"floor":[23],"plan":[24],"or":[25,32,43,48,55],"other":[26],"pre-installed":[27],"infrastructure":[28],"to":[29,89,106,118],"achieve":[30,113],"sub-meter":[31],"sub-centimetre":[33],"accuracy.":[35],"However,":[36],"in":[37,51,86,92,102],"some":[38],"circumstances":[39],"these":[40],"required":[41],"devices":[42],"information":[44],"may":[45],"be":[46],"unavailable":[47],"too":[49],"expensive":[50],"terms":[52],"cost":[54],"deployment.":[56],"presents":[59],"a":[60],"novel":[61],"keyframe":[62],"based":[63,123],"Pose":[64],"Graph":[65],"Simultaneous":[66],"Localisation":[67],"Mapping":[69],"(SLAM)":[70],"method,":[71],"which":[72],"correlates":[73],"ambient":[74],"geomagnetic":[75],"field":[76],"with":[77],"motion":[78],"pattern":[79],"employs":[81],"sensors":[83],"commonly":[84],"equipped":[85],"mobile":[87],"devices,":[88],"provide":[90],"positioning":[91],"both":[93],"unknown":[94],"known":[96],"environments.":[97],"Extensive":[98],"experiments":[99],"are":[100],"conducted":[101],"large-scale":[103],"environments":[105],"verify":[107],"that":[108],"the":[109],"proposed":[110],"method":[111],"can":[112],"high":[114],"accuracy":[116],"similar":[117],"state-of-the-arts,":[119],"such":[120],"as":[121],"vision":[122],"Google":[124],"Project":[125],"Tango.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
