{"id":"https://openalex.org/W4317927950","doi":"https://doi.org/10.1145/3560905.3568510","title":"Indoor Smartphone SLAM with Learned Echoic Location Features","display_name":"Indoor Smartphone SLAM with Learned Echoic Location Features","publication_year":2022,"publication_date":"2022-11-06","ids":{"openalex":"https://openalex.org/W4317927950","doi":"https://doi.org/10.1145/3560905.3568510"},"language":"en","primary_location":{"id":"doi:10.1145/3560905.3568510","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3560905.3568510","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3560905.3568510","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3560905.3568510","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100368244","display_name":"Wenjie Luo","orcid":"https://orcid.org/0000-0002-1712-8145"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Wenjie Luo","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017671322","display_name":"Qun Song","orcid":"https://orcid.org/0000-0002-3611-9404"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Qun Song","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050232781","display_name":"Zhenyu Yan","orcid":"https://orcid.org/0000-0002-4433-5211"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyu Yan","raw_affiliation_strings":["The Chinese University of Hong Kong, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040651615","display_name":"Rui Tan","orcid":"https://orcid.org/0000-0001-8441-9973"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Rui Tan","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029912845","display_name":"Guosheng Lin","orcid":"https://orcid.org/0000-0002-0329-7458"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guosheng Lin","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100368244"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":1.1894,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.78198052,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"489","last_page":"503"},"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/T10860","display_name":"Speech and Audio Processing","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7286059260368347},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7139135599136353},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.610163152217865},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5144205689430237},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.49199220538139343},{"id":"https://openalex.org/keywords/profiling","display_name":"Profiling (computer programming)","score":0.4147516191005707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4065527021884918},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3949972093105316},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.17144694924354553},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1558017134666443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1500556766986847}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7286059260368347},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7139135599136353},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.610163152217865},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5144205689430237},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.49199220538139343},{"id":"https://openalex.org/C187191949","wikidata":"https://www.wikidata.org/wiki/Q1138496","display_name":"Profiling (computer programming)","level":2,"score":0.4147516191005707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4065527021884918},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3949972093105316},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.17144694924354553},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1558017134666443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1500556766986847},{"id":"https://openalex.org/C68115822","wikidata":"https://www.wikidata.org/wiki/Q1068172","display_name":"Sound pressure","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3560905.3568510","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3560905.3568510","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3560905.3568510","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3560905.3568510","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3560905.3568510","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3560905.3568510","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems","raw_type":"proceedings-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5299999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4317927950.pdf","grobid_xml":"https://content.openalex.org/works/W4317927950.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W1643892426","https://openalex.org/W1977687024","https://openalex.org/W1981831056","https://openalex.org/W2036946260","https://openalex.org/W2051376734","https://openalex.org/W2080823437","https://openalex.org/W2080842580","https://openalex.org/W2085261163","https://openalex.org/W2086954706","https://openalex.org/W2088136988","https://openalex.org/W2142216726","https://openalex.org/W2147981803","https://openalex.org/W2153054365","https://openalex.org/W2153200718","https://openalex.org/W2156257723","https://openalex.org/W2165158100","https://openalex.org/W2170102584","https://openalex.org/W2172093107","https://openalex.org/W2258360715","https://openalex.org/W2394945029","https://openalex.org/W2525989248","https://openalex.org/W2526689049","https://openalex.org/W2621274416","https://openalex.org/W2624849939","https://openalex.org/W2625581252","https://openalex.org/W2625969058","https://openalex.org/W2756172860","https://openalex.org/W2763188033","https://openalex.org/W2775147633","https://openalex.org/W2798926091","https://openalex.org/W2807015669","https://openalex.org/W2824103177","https://openalex.org/W2890216513","https://openalex.org/W2890354344","https://openalex.org/W2897609501","https://openalex.org/W2933224119","https://openalex.org/W2953236873","https://openalex.org/W2983307807","https://openalex.org/W3023214412","https://openalex.org/W3047268834","https://openalex.org/W3089203488","https://openalex.org/W3102369338","https://openalex.org/W3110076758","https://openalex.org/W3201513527","https://openalex.org/W4210560029","https://openalex.org/W4226050909","https://openalex.org/W4248981723","https://openalex.org/W4287279640"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2742744817","https://openalex.org/W3202472720","https://openalex.org/W2991246638"],"abstract_inverted_index":{"Indoor":[0],"self-localization":[1],"is":[2],"a":[3,36,60,158,164],"highly":[4],"demanded":[5],"system":[6,44,58],"function":[7],"for":[8],"smartphones.":[9],"The":[10,126],"current":[11],"solutions":[12],"based":[13],"on":[14,113,153],"inertial,":[15],"radio":[16],"frequency,":[17],"and":[18,41,52,67,151,163,167,171],"geomagnetic":[19,172],"sensing":[20],"may":[21],"have":[22],"degraded":[23],"performance":[24],"when":[25],"their":[26],"limiting":[27],"factors":[28],"take":[29],"effect.":[30],"In":[31],"this":[32],"paper,":[33],"we":[34,96],"present":[35],"new":[37],"indoor":[38,78],"simultaneous":[39],"localization":[40,144],"mapping":[42],"(SLAM)":[43],"that":[45,84,109,138],"utilizes":[46],"the":[47,69,73,77,85,110,114,122,131,154,169],"smartphone's":[48,61,115],"built-in":[49],"audio":[50],"hardware":[51],"inertial":[53],"measurement":[54],"unit":[55],"(IMU).":[56],"Our":[57,80],"uses":[59],"loud-speaker":[62],"to":[63,71,100],"emit":[64],"near-inaudible":[65],"chirps":[66],"then":[68],"microphone":[70],"record":[72],"acoustic":[74],"echoes":[75,86],"from":[76,121],"environment.":[79],"profiling":[81],"measurements":[82],"show":[83,137],"carry":[87],"location":[88,104],"information":[89],"with":[90],"sub-meter":[91],"granularity.":[92],"To":[93],"enable":[94],"SLAM,":[95],"apply":[97],"contrastive":[98],"learning":[99],"construct":[101],"an":[102,161],"echoic":[103],"feature":[105],"(ELF)":[106],"extractor,":[107],"such":[108],"loop":[111],"closures":[112],"trajectory":[116,133],"can":[117],"be":[118],"accurately":[119],"detected":[120],"associated":[123],"ELF":[124],"trace.":[125],"detection":[127],"results":[128],"effectively":[129],"regulate":[130],"IMU-based":[132],"reconstruction.":[134],"Extensive":[135],"experiments":[136],"our":[139],"ELF-based":[140],"SLAM":[141,173],"achieves":[142],"median":[143],"errors":[145],"of":[146],"0.1":[147],"m,":[148,150],"0.53":[149],"0.4m":[152],"reconstructed":[155],"trajectories":[156],"in":[157],"living":[159],"room,":[160],"office,":[162],"shopping":[165],"mall,":[166],"outperforms":[168],"Wi-Fi":[170],"systems.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}