{"id":"https://openalex.org/W1638798973","doi":"https://doi.org/10.1109/tim.2015.2437637","title":"Indoor Positioning of a Robotic Walking Assistant for Large Public Environments","display_name":"Indoor Positioning of a Robotic Walking Assistant for Large Public Environments","publication_year":2015,"publication_date":"2015-07-08","ids":{"openalex":"https://openalex.org/W1638798973","doi":"https://doi.org/10.1109/tim.2015.2437637","mag":"1638798973"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2015.2437637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2015.2437637","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ieeexplore.ieee.org/abstract/document/7152904","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053157524","display_name":"Payam Nazemzadeh","orcid":"https://orcid.org/0000-0003-3320-2648"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Payam Nazemzadeh","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","Department of Information Engineering and Computer Science, University of Trento , Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento , Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042337527","display_name":"Federico L. Moro","orcid":"https://orcid.org/0000-0003-1841-7130"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Moro","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","Department of Information Engineering and Computer Science, University of Trento , Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento , Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy","Department of Industrial Engineering - University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Department of Industrial Engineering - University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015955356","display_name":"David Macii","orcid":"https://orcid.org/0000-0001-7736-5188"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"David Macii","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy","Department of Industrial Engineering - University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Department of Industrial Engineering - University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006224560","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0001-8813-8685"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Palopoli","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","Department of Information Engineering and Computer Science, University of Trento , Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento , Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":4.8222,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.95282139,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"64","issue":"11","first_page":"2965","last_page":"2976"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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":0.9998999834060669,"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/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12546","display_name":"Smart Parking Systems Research","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/software-deployment","display_name":"Software deployment","score":0.7362247109413147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6583771705627441},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6336362957954407},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6023165583610535},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5931233167648315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5815305709838867},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5330718159675598},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5219302177429199},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46556854248046875},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44862064719200134},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42892754077911377},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42414945363998413},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3442845344543457},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33401453495025635},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.0914888083934784}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7362247109413147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6583771705627441},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6336362957954407},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6023165583610535},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5931233167648315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5815305709838867},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5330718159675598},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5219302177429199},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46556854248046875},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44862064719200134},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42892754077911377},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42414945363998413},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3442845344543457},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33401453495025635},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0914888083934784},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tim.2015.2437637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2015.2437637","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},{"id":"pmh:oai:iris.unitn.it:11572/120166","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/7152904","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:iris.unitn.it:11572/120166","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/7152904","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[{"id":"https://openalex.org/G3207356259","display_name":null,"funder_award_id":"2007\u20132013","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G393177772","display_name":null,"funder_award_id":"FP7 2007-2013","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4358921014","display_name":null,"funder_award_id":"ICT-2011","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5702163051","display_name":null,"funder_award_id":"FP7/2007","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8927312764","display_name":"Devices for Assisted Living","funder_award_id":"288917","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322275","display_name":"Universit\u00e0 degli Studi di Trento","ror":"https://ror.org/05trd4x28"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1531532259","https://openalex.org/W1758464101","https://openalex.org/W1972093885","https://openalex.org/W1973356803","https://openalex.org/W1985366842","https://openalex.org/W1991742456","https://openalex.org/W1993793087","https://openalex.org/W2020442756","https://openalex.org/W2027473844","https://openalex.org/W2035318625","https://openalex.org/W2043019425","https://openalex.org/W2045571834","https://openalex.org/W2047152596","https://openalex.org/W2056427752","https://openalex.org/W2059373180","https://openalex.org/W2074600044","https://openalex.org/W2083623706","https://openalex.org/W2088044457","https://openalex.org/W2090178842","https://openalex.org/W2111784981","https://openalex.org/W2114859373","https://openalex.org/W2120172902","https://openalex.org/W2135055020","https://openalex.org/W2136803880","https://openalex.org/W2136956710","https://openalex.org/W2138422721","https://openalex.org/W2139125750","https://openalex.org/W2148747602","https://openalex.org/W2156477559","https://openalex.org/W2164802483","https://openalex.org/W2167138972","https://openalex.org/W2167791418","https://openalex.org/W2238582461"],"related_works":["https://openalex.org/W96612179","https://openalex.org/W2770234245","https://openalex.org/W2566006169","https://openalex.org/W2987774938","https://openalex.org/W632915154","https://openalex.org/W4229499248","https://openalex.org/W4378874356","https://openalex.org/W2055733372","https://openalex.org/W2369811061","https://openalex.org/W3089997100"],"abstract_inverted_index":{"Indoor":[0],"localization":[1,20],"and":[2,10,24,39,48,65,110,142,157,173],"position":[3,46,129],"tracking":[4,49,130],"are":[5,103],"essential":[6],"to":[7,85,124,146],"support":[8],"applications":[9],"services":[11],"for":[12,56,168],"ambient-assisted":[13],"living.":[14],"While":[15],"the":[16,45,53,76,81,118,128,162],"problem":[17],"of":[18,36,70,73,80,106,120,155],"indoor":[19,169],"is":[21,60,84,136,144],"still":[22],"open":[23],"already":[25],"quite":[26],"complex":[27],"per":[28],"se,":[29],"in":[30,108,133],"large":[31,109],"public":[32],"places,":[33],"additional":[34],"issues":[35],"cost,":[37],"accuracy,":[38,153],"scalability":[40],"arise.":[41],"In":[42,122],"this":[43,126,134],"paper,":[44],"estimation":[47],"technique":[50],"developed":[51],"within":[52],"project":[54,83],"devices":[55],"assisted":[57],"living":[58],"(DALi)":[59],"described,":[61],"analyzed":[62],"through":[63],"simulations,":[64],"finally":[66],"validated":[67],"by":[68],"means":[69],"a":[71,87,148],"variety":[72],"experiments":[74],"on":[75,138],"field.":[77],"The":[78],"goal":[79],"DALi":[82],"design":[86],"robotic":[88],"wheeled":[89],"walker":[90],"guiding":[91],"people":[92,97],"with":[93,98],"psychomotor":[94],"problems.":[95],"Indeed,":[96],"motor":[99],"or":[100],"cognitive":[101],"impairments":[102],"often":[104],"afraid":[105],"moving":[107],"crowded":[111],"environments":[112],"(e.g.,":[113],"because":[114],"they":[115],"could":[116,165],"lose":[117],"sense":[119],"direction).":[121],"order":[123],"mitigate":[125],"problem,":[127],"approach":[131,164],"described":[132],"paper":[135],"based":[137],"multisensor":[139],"data":[140],"fusion":[141],"it":[143],"conceived":[145],"assure":[147],"good":[149],"tradeoff":[150],"between":[151],"target":[152],"level":[154],"confidence,":[156],"deployment":[158],"costs.":[159],"Quite":[160],"interestingly,":[161],"same":[163],"be":[166],"used":[167],"automated":[170],"guided":[171],"vehicles":[172],"robotics.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
