{"id":"https://openalex.org/W2908869007","doi":"https://doi.org/10.1109/iros.2018.8594254","title":"Indoor Mapping and Localization for Pedestrians using Opportunistic Sensing with Smartphones","display_name":"Indoor Mapping and Localization for Pedestrians using Opportunistic Sensing with Smartphones","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908869007","doi":"https://doi.org/10.1109/iros.2018.8594254","mag":"2908869007"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5018059499","display_name":"Liang Qing","orcid":"https://orcid.org/0000-0001-7644-5629"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qing Liang","raw_affiliation_strings":["Department of ECE, Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of ECE, Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032068842","display_name":"Lujia Wang","orcid":"https://orcid.org/0000-0002-6710-4897"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lujia Wang","raw_affiliation_strings":["Center for Cloud Computing, Chinese Academy of Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cloud Computing, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210144487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100642147","display_name":"Youfu Li","orcid":"https://orcid.org/0000-0002-5227-1326"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Youfu Li","raw_affiliation_strings":["Department of MBE, City University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of MBE, City University of Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["Department of ECE, Hong Kong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of ECE, Hong Kong University of Science and Technology","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1649","last_page":"1656"},"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":0.9932000041007996,"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":0.9904000163078308,"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":0.6817702054977417},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6146411299705505},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5798937082290649},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.5595452785491943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5351420640945435},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.5055673122406006},{"id":"https://openalex.org/keywords/ground-penetrating-radar","display_name":"Ground-penetrating radar","score":0.45712369680404663},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.43399035930633545},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.42986148595809937},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4175463318824768},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.28931349515914917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24846187233924866},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21458932757377625},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19421210885047913},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.15383273363113403},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10879182815551758}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6817702054977417},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6146411299705505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5798937082290649},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.5595452785491943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5351420640945435},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.5055673122406006},{"id":"https://openalex.org/C71813955","wikidata":"https://www.wikidata.org/wiki/Q503560","display_name":"Ground-penetrating radar","level":3,"score":0.45712369680404663},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.43399035930633545},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.42986148595809937},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4175463318824768},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.28931349515914917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24846187233924866},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21458932757377625},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19421210885047913},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.15383273363113403},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10879182815551758},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8594254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-96076","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-96076","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},{"id":"pmh:oai:repository.ust.hk:1783.1-96076","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=2153-0858&rft.volume=&rft.issue=&rft.date=2018&rft.spage=1649&rft.aulast=Liang&rft.aufirst=&rft.atitle=Indoor%20Mapping%20and%20Localization%20for%20Pedestrians%20using%20Opportunistic%20Sensing%20with%20Smartphones&rft.title=IEEE%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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 paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1947853012","https://openalex.org/W2003738415","https://openalex.org/W2007448829","https://openalex.org/W2038396847","https://openalex.org/W2044831755","https://openalex.org/W2105061875","https://openalex.org/W2153054365","https://openalex.org/W2160146756","https://openalex.org/W2166315077","https://openalex.org/W2169724204","https://openalex.org/W2184130642","https://openalex.org/W2217150468","https://openalex.org/W2413316079","https://openalex.org/W2461937780","https://openalex.org/W2525989248","https://openalex.org/W2564085365","https://openalex.org/W2756698629","https://openalex.org/W2770771835","https://openalex.org/W2963986675","https://openalex.org/W3124420883","https://openalex.org/W3150315428","https://openalex.org/W6652060303","https://openalex.org/W6686375008","https://openalex.org/W6746804415"],"related_works":["https://openalex.org/W2206872286","https://openalex.org/W2382913035","https://openalex.org/W2113447385","https://openalex.org/W2125871801","https://openalex.org/W2738165626","https://openalex.org/W1585960250","https://openalex.org/W2120540633","https://openalex.org/W2123849027","https://openalex.org/W1976194731","https://openalex.org/W2133062384"],"abstract_inverted_index":{"Indoor":[0],"localization":[1,26,52,162],"for":[2,14,115,139],"pedestrians":[3],"has":[4],"gained":[5],"increasing":[6],"popularity":[7],"among":[8],"the":[9,15,31,122,126,134,153,177],"rich":[10],"body":[11],"of":[12,44,130],"literature":[13],"last":[16],"decade.":[17],"In":[18],"this":[19],"paper,":[20],"a":[21,39,166],"low-cost":[22],"indoor":[23,36],"mapping":[24,47],"and":[25,48,81,133,157,179,185],"solution":[27],"is":[28,42,60,145,163],"proposed":[29,143],"using":[30,53],"opportunistic":[32,85],"signals":[33],"from":[34,65,84,125,151],"ambient":[35],"environments":[37],"with":[38,76,176],"smartphone.":[40],"It":[41],"composed":[43],"GraphSLAM-based":[45],"offline":[46],"Bayesian":[49],"filtering-based":[50],"online":[51],"generated":[54,109],"signal":[55,78,101],"maps.":[56],"The":[57,142],"GraphSLAM":[58],"front-end":[59],"constructed":[61],"by":[62,72,96,110],"motion":[63],"constraints":[64,70,83,124],"pedestrian":[66],"dead-reckoning":[67],"(PDR),":[68],"loop-closure":[69],"identified":[71],"magnetic":[73,86,105,131],"sequence":[74],"matching":[75],"WiFi":[77],"similarity":[79],"validation,":[80],"observation":[82],"headings":[87],"after":[88,99],"error":[89],"rejection.":[90],"Globally":[91],"consistent":[92],"trajectories":[93],"are":[94,108],"created":[95],"graph":[97],"optimization,":[98],"which":[100],"maps":[102],"(e.g.,":[103],"WiFi,":[104],"fields,":[106],"lights)":[107],"Gaussian":[111],"Processes":[112],"Regression":[113],"(GPR)":[114],"later":[116],"localization.":[117],"We":[118],"propose":[119],"to":[120],"use":[121],"pseudo-wall":[123],"GPR":[127],"variance":[128],"map":[129],"fields":[132],"lights":[135],"measurements":[136],"as":[137],"observations":[138],"particle":[140],"filtering.":[141],"method":[144],"evaluated":[146],"on":[147,165],"several":[148],"datasets":[149],"collected":[150],"both":[152],"in-compass":[154],"office":[155,170],"buildings":[156],"outside":[158],"public":[159],"areas.":[160],"Real-time":[161],"demonstrated":[164],"smartphone":[167],"in":[168],"an":[169],"building":[171],"covering":[172],"2000":[173],"square":[174],"meters":[175],"50-":[178],"90-percentile":[180],"accuracies":[181],"being":[182],"2.30":[183],"m":[184],"3.41":[186],"m,":[187],"respectively.":[188]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}