{"id":"https://openalex.org/W2137279681","doi":"https://doi.org/10.1145/1620545.1620560","title":"Simultaneous localization and mapping for pedestrians using only foot-mounted inertial sensors","display_name":"Simultaneous localization and mapping for pedestrians using only foot-mounted inertial sensors","publication_year":2009,"publication_date":"2009-09-30","ids":{"openalex":"https://openalex.org/W2137279681","doi":"https://doi.org/10.1145/1620545.1620560","mag":"2137279681"},"language":"en","primary_location":{"id":"doi:10.1145/1620545.1620560","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1620545.1620560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 11th international conference on Ubiquitous computing","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/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":["German Aerospace Center, Wessling 82230, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center, Wessling 82230, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058061818","display_name":"Michael Angermann","orcid":null},"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":"Michael Angermann","raw_affiliation_strings":["German Aerospace Center, Wessling 82230, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center, Wessling 82230, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032196661","display_name":"Bernhard Krach","orcid":"https://orcid.org/0000-0003-0448-878X"},"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":"Bernhard Krach","raw_affiliation_strings":["German Aerospace Center, Wessling 82230, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center, Wessling 82230, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":12.2076,"has_fulltext":false,"cited_by_count":150,"citation_normalized_percentile":{"value":0.98985625,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"93","last_page":"96"},"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":0.9976000189781189,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/odometry","display_name":"Odometry","score":0.9440163373947144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7133538126945496},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6674389839172363},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6605669856071472},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6594815850257874},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.6570477485656738},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6375765800476074},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6102077960968018},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4876657724380493},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.46265774965286255},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4177163243293762},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.41344454884529114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38991057872772217},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20484769344329834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17507317662239075}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9440163373947144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7133538126945496},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6674389839172363},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6605669856071472},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6594815850257874},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.6570477485656738},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6375765800476074},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6102077960968018},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4876657724380493},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.46265774965286255},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4177163243293762},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.41344454884529114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38991057872772217},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20484769344329834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17507317662239075},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":3,"locations":[{"id":"doi:10.1145/1620545.1620560","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1620545.1620560","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 11th international conference on Ubiquitous computing","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:60188","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":"Konferenzbeitrag"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.180.5158","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.180.5158","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.kn-s.dlr.de/People/Angermann/Welcome/ubicomp2009_FootSLAM.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1999050017","https://openalex.org/W2056427752","https://openalex.org/W2108108061","https://openalex.org/W2118975298","https://openalex.org/W2118991694","https://openalex.org/W2145457662","https://openalex.org/W2148228392","https://openalex.org/W2148820580","https://openalex.org/W2160337655","https://openalex.org/W2173782939"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,55,85],"describe":[4],"a":[5,29,34,60,63,134],"new":[6],"Bayesian":[7],"estimation":[8],"approach":[9],"for":[10,15,80,103,126,144],"simultaneous":[11],"mapping":[12,148],"and":[13,39,52],"localization":[14],"pedestrians":[16,104],"based":[17,108],"on":[18,109],"odometry":[19,41],"with":[20,95],"foot":[21],"mounted":[22],"inertial":[23,110],"sensors.":[24],"When":[25],"somebody":[26],"walks":[27],"within":[28],"constrained":[30],"area":[31],"such":[32],"as":[33],"building,":[35],"then":[36],"even":[37,125],"noisy":[38],"drift-prone":[40],"measurements":[42],"can":[43,56],"give":[44],"us":[45],"information":[46],"about":[47],"features":[48,72],"like":[49],"turns,":[50],"doors,":[51],"walls,":[53],"which":[54,84],"use":[57],"to":[58,133],"build":[59],"form":[61],"of":[62,65,100,130,137,149],"map":[64],"the":[66,121,138,142],"explored":[67],"area,":[68],"especially":[69],"when":[70],"these":[71],"are":[73,88],"revisited":[74],"over":[75],"time.":[76],"Our":[77],"initial":[78],"results":[79],"our":[81],"novel":[82],"scheme":[83],"call":[86],"\"FootSLAM\"":[87],"very":[89],"surprising":[90],"in":[91],"that":[92],"true":[93,139],"SLAM":[94],"stable":[96],"relative":[97],"positioning":[98],"accuracy":[99],"1-2":[101],"meters":[102],"is":[105],"indeed":[106],"possible":[107],"sensors":[111],"alone":[112],"without":[113],"any":[114],"prior":[115],"known":[116],"building":[117],"indoor":[118],"layout.":[119],"Furthermore,":[120],"2D":[122],"maps":[123],"obtained":[124],"just":[127],"10":[128],"minutes":[129],"walking":[131],"converge":[132],"good":[135],"approximation":[136],"layout":[140],"forming":[141],"basis":[143],"future":[145],"automated":[146],"collaborative":[147],"buildings.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":16},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":22},{"year":2012,"cited_by_count":18}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}