{"id":"https://openalex.org/W2086697544","doi":"https://doi.org/10.1109/tits.2014.2303115","title":"Pedestrian Simultaneous Localization and Mapping in Multistory Buildings Using Inertial Sensors","display_name":"Pedestrian Simultaneous Localization and Mapping in Multistory Buildings Using Inertial Sensors","publication_year":2014,"publication_date":"2014-02-21","ids":{"openalex":"https://openalex.org/W2086697544","doi":"https://doi.org/10.1109/tits.2014.2303115","mag":"2086697544"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2014.2303115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2014.2303115","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-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/A5061763766","display_name":"Maria Garcia Puyol","orcid":"https://orcid.org/0000-0003-2688-2286"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maria Garcia Puyol","raw_affiliation_strings":["Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060315568","display_name":"Dmytro Bobkov","orcid":"https://orcid.org/0000-0002-5096-8891"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I8204097","display_name":"Ludwig-Maximilians-Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/05591te55","country_code":"DE","type":"education","lineage":["https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dmytro Bobkov","raw_affiliation_strings":["Institute for Media Technology, Technical University of Munich, Munich, Germany","Inst. for Media Technol., Tech. Univ. of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Media Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Inst. for Media Technol., Tech. Univ. of Munich, Munich, Germany","institution_ids":["https://openalex.org/I8204097"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070393745","display_name":"Patrick Robertson","orcid":"https://orcid.org/0000-0002-6544-7570"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Robertson","raw_affiliation_strings":["Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046136868","display_name":"Thomas Jost","orcid":"https://orcid.org/0000-0003-1413-5427"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Jost","raw_affiliation_strings":["Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Commun. & Navig., German Aerosp. Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4717,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.95164577,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"15","issue":"4","first_page":"1714","last_page":"1727"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9970999956130981,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8645731210708618},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7263592481613159},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.5991060733795166},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5860726833343506},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5605925917625427},{"id":"https://openalex.org/keywords/crowdsourcing","display_name":"Crowdsourcing","score":0.5474815368652344},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5466809272766113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5244424939155579},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49136558175086975},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4598439931869507},{"id":"https://openalex.org/keywords/digital-mapping","display_name":"Digital mapping","score":0.44644051790237427},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.4451693594455719},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4387328326702118},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.435110479593277},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3136979341506958},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.29667115211486816},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.27234911918640137},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23970496654510498},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22484299540519714},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.175609290599823},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1210763156414032}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8645731210708618},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7263592481613159},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.5991060733795166},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5860726833343506},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5605925917625427},{"id":"https://openalex.org/C62230096","wikidata":"https://www.wikidata.org/wiki/Q275969","display_name":"Crowdsourcing","level":2,"score":0.5474815368652344},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5466809272766113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5244424939155579},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49136558175086975},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4598439931869507},{"id":"https://openalex.org/C181672929","wikidata":"https://www.wikidata.org/wiki/Q4115141","display_name":"Digital mapping","level":2,"score":0.44644051790237427},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.4451693594455719},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4387328326702118},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.435110479593277},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3136979341506958},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.29667115211486816},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.27234911918640137},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23970496654510498},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22484299540519714},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.175609290599823},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1210763156414032},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2014.2303115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2014.2303115","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:90430","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Zeitschriftenbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W76788353","https://openalex.org/W190224757","https://openalex.org/W1615454278","https://openalex.org/W1869638461","https://openalex.org/W1964120742","https://openalex.org/W1969511390","https://openalex.org/W1972602454","https://openalex.org/W1986802839","https://openalex.org/W1995588456","https://openalex.org/W2003265541","https://openalex.org/W2005076746","https://openalex.org/W2005717879","https://openalex.org/W2007387357","https://openalex.org/W2008891225","https://openalex.org/W2025797281","https://openalex.org/W2029884177","https://openalex.org/W2042839256","https://openalex.org/W2044831755","https://openalex.org/W2053318559","https://openalex.org/W2056427752","https://openalex.org/W2056749840","https://openalex.org/W2083754578","https://openalex.org/W2098090801","https://openalex.org/W2108108061","https://openalex.org/W2110052721","https://openalex.org/W2118991694","https://openalex.org/W2127600800","https://openalex.org/W2135621383","https://openalex.org/W2137279681","https://openalex.org/W2145457662","https://openalex.org/W2146861713","https://openalex.org/W2146881125","https://openalex.org/W2148820580","https://openalex.org/W2149675336","https://openalex.org/W2152671441","https://openalex.org/W2160337655","https://openalex.org/W2161317747","https://openalex.org/W2166315077","https://openalex.org/W2301202125","https://openalex.org/W2313953460","https://openalex.org/W2480859604","https://openalex.org/W2534276235","https://openalex.org/W3027942101","https://openalex.org/W3147330112","https://openalex.org/W4251586995","https://openalex.org/W6603101531","https://openalex.org/W6607700165","https://openalex.org/W6679216312","https://openalex.org/W6681503249","https://openalex.org/W6682324061","https://openalex.org/W6697993803"],"related_works":["https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W2149015029","https://openalex.org/W48401697","https://openalex.org/W2152464524","https://openalex.org/W4387452725","https://openalex.org/W3130035014","https://openalex.org/W2369272984"],"abstract_inverted_index":{"Pedestrian":[0],"navigation":[1,211],"is":[2,19,41],"an":[3,42,124],"important":[4,38],"ingredient":[5],"for":[6,71],"efficient":[7],"multimodal":[8],"transportation,":[9],"such":[10,72],"as":[11],"guidance":[12],"within":[13],"large":[14,165],"transportation":[15],"infrastructures.":[16],"A":[17],"requirement":[18],"accurate":[20,210],"positioning":[21],"of":[22,32,60,68,107,119,194,197,205,215,226],"people":[23],"in":[24,161],"indoor":[25,207],"multistory":[26,87,150],"environments.":[27],"To":[28],"achieve":[29],"this,":[30],"maps":[31,67,152,189],"the":[33,46,101,116,120,133,141,149,173,187,195,202,221],"environment":[34],"play":[35],"a":[36,61,90,96,105,178,227],"very":[37],"role.":[39],"FootSLAM":[40,85,151],"algorithm":[43],"based":[44],"on":[45,55],"simultaneous":[47],"localization":[48],"and":[49,74,99,131,168,209,223],"mapping":[50,208],"(SLAM)":[51],"principle":[52],"that":[53,138,153],"relies":[54],"human":[56,69,216],"odometry,":[57,217],"i.e.,":[58],"measurements":[59],"pedestrian's":[62],"steps,":[63],"to":[64,86,190],"build":[65],"probabilistic":[66,142],"motion":[70],"environments":[73],"can":[75],"be":[76,191],"applied":[77],"using":[78,123,212],"crowdsourcing.":[79],"In":[80],"this":[81],"paper,":[82],"we":[83],"extend":[84,132],"buildings":[88,163],"following":[89],"Bayesian":[91],"derivation.":[92],"Our":[93],"approach":[94],"employs":[95],"particle":[97],"filter":[98],"partitions":[100],"map":[102],"space":[103],"into":[104],"grid":[106],"adjacent":[108],"hexagonal":[109],"prisms":[110],"with":[111,220],"eight":[112],"faces.":[113],"We":[114,147,185],"model":[115,130],"vertical":[117],"component":[118],"odometry":[121],"errors":[122],"autoregressive":[125],"integrated":[126],"moving":[127],"average":[128],"(ARIMA)":[129],"geographic":[134],"tree-based":[135],"data":[136,158],"structure":[137],"efficiently":[139],"stores":[140],"map,":[143],"allowing":[144],"real-time":[145],"processing.":[146],"present":[148],"were":[154],"created":[155],"from":[156],"three":[157],"sets":[159],"collected":[160],"different":[162],"(one":[164],"office":[166],"building":[167],"two":[169],"university":[170],"buildings).":[171],"Hereby,":[172],"user":[174],"was":[175],"only":[176],"carrying":[177],"single":[179],"foot-mounted":[180],"inertial":[181],"measurement":[182],"unit":[183],"(IMU).":[184],"believe":[186],"resulting":[188],"strong":[192],"evidence":[193],"robustness":[196],"FootSLAM.":[198],"This":[199],"paper":[200],"raises":[201],"future":[203],"possibility":[204],"crowdsourced":[206],"other":[213],"forms":[214],"e.g.,":[218],"obtained":[219],"low-cost":[222],"nonintrusive":[224],"sensors":[225],"handheld":[228],"smartphone.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}