{"id":"https://openalex.org/W2592531347","doi":"https://doi.org/10.23919/icif.2018.8455482","title":"Inertial Odometry on Handheld Smartphones","display_name":"Inertial Odometry on Handheld Smartphones","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2592531347","doi":"https://doi.org/10.23919/icif.2018.8455482","mag":"2592531347"},"language":"en","primary_location":{"id":"doi:10.23919/icif.2018.8455482","is_oa":false,"landing_page_url":"https://doi.org/10.23919/icif.2018.8455482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 21st International Conference on Information Fusion (FUSION)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1703.00154","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014200248","display_name":"Arno Solin","orcid":"https://orcid.org/0000-0002-0958-7886"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Arno Solin","raw_affiliation_strings":["Aalto University, Espoo, Finland","Aalto University; Espoo Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalto University, Espoo, Finland","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"Aalto University; Espoo Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026104498","display_name":"Santiago Cort\u00e9s","orcid":"https://orcid.org/0000-0001-7886-7841"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Santiago Cortes","raw_affiliation_strings":["Aalto University, Espoo, Finland","Aalto University; Espoo Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalto University, Espoo, Finland","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"Aalto University; Espoo Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088180438","display_name":"Esa Rahtu","orcid":"https://orcid.org/0000-0001-8767-0864"},"institutions":[{"id":"https://openalex.org/I150589677","display_name":"Tampere University of Applied Sciences","ror":"https://ror.org/00bwtjf83","country_code":"FI","type":"education","lineage":["https://openalex.org/I150589677"]},{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]},{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Esa Rahtu","raw_affiliation_strings":["Tampere Univ. of Tech., Tampere, Finland","Tampere university of technology, Tampere, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere Univ. of Tech., Tampere, Finland","institution_ids":["https://openalex.org/I150589677"]},{"raw_affiliation_string":"Tampere university of technology, Tampere, Finland","institution_ids":["https://openalex.org/I150589677","https://openalex.org/I166825849","https://openalex.org/I4210133110"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057931031","display_name":"Juho Kannala","orcid":"https://orcid.org/0000-0001-5088-4041"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Juho Kannala","raw_affiliation_strings":["Aalto University, Espoo, Finland","Aalto University; Espoo Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalto University, Espoo, Finland","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"Aalto University; Espoo Finland","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1689,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71753842,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9954000115394592,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9929999709129333,"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/odometry","display_name":"Odometry","score":0.9012944102287292},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.783282995223999},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7024039030075073},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5802173018455505},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5749637484550476},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5541363954544067},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.5511757731437683},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5360729098320007},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5290728211402893},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.48467758297920227},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.46758079528808594},{"id":"https://openalex.org/keywords/mobile-phone","display_name":"Mobile phone","score":0.4605514109134674},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.44134896993637085},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.42984628677368164},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.42794644832611084},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3639064431190491},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31455329060554504},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24126657843589783},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11517778038978577}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9012944102287292},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.783282995223999},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7024039030075073},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5802173018455505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5749637484550476},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5541363954544067},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.5511757731437683},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5360729098320007},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5290728211402893},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.48467758297920227},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.46758079528808594},{"id":"https://openalex.org/C2777421447","wikidata":"https://www.wikidata.org/wiki/Q17517","display_name":"Mobile phone","level":2,"score":0.4605514109134674},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.44134896993637085},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.42984628677368164},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.42794644832611084},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3639064431190491},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31455329060554504},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24126657843589783},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11517778038978577},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.23919/icif.2018.8455482","is_oa":false,"landing_page_url":"https://doi.org/10.23919/icif.2018.8455482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 21st International Conference on Information Fusion (FUSION)","raw_type":"proceedings-article"},{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/35214","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1703.00154","pdf_url":"https://arxiv.org/pdf/1703.00154","source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"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"},{"id":"pmh:oai:arXiv.org:1703.00154","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1703.00154","pdf_url":"https://arxiv.org/pdf/1703.00154","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2592531347","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1703.00154","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1703.00154","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1703.00154","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/35214","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1703.00154","pdf_url":"https://arxiv.org/pdf/1703.00154","source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2592531347.pdf","grobid_xml":"https://content.openalex.org/works/W2592531347.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W88520345","https://openalex.org/W1514350232","https://openalex.org/W1531532259","https://openalex.org/W1564768010","https://openalex.org/W1569116522","https://openalex.org/W1623436658","https://openalex.org/W1649579452","https://openalex.org/W1975994995","https://openalex.org/W1987441863","https://openalex.org/W2011224697","https://openalex.org/W2028620601","https://openalex.org/W2037034232","https://openalex.org/W2044831755","https://openalex.org/W2051349034","https://openalex.org/W2056427752","https://openalex.org/W2079251198","https://openalex.org/W2106985027","https://openalex.org/W2118975298","https://openalex.org/W2120824934","https://openalex.org/W2160146756","https://openalex.org/W2184626270","https://openalex.org/W2216550548","https://openalex.org/W2489373752","https://openalex.org/W2963189264","https://openalex.org/W2964103707","https://openalex.org/W4230644069","https://openalex.org/W4232464081","https://openalex.org/W4246614213","https://openalex.org/W6677382876","https://openalex.org/W6785633389"],"related_works":["https://openalex.org/W3181349848","https://openalex.org/W2998677710","https://openalex.org/W2112105154","https://openalex.org/W2945668765","https://openalex.org/W2978489487","https://openalex.org/W3083693303","https://openalex.org/W2953258667","https://openalex.org/W2777788712","https://openalex.org/W2746933461","https://openalex.org/W2903112517","https://openalex.org/W3072754376","https://openalex.org/W1607361043","https://openalex.org/W2890274233","https://openalex.org/W3129621953","https://openalex.org/W2930959431","https://openalex.org/W2904978926","https://openalex.org/W2137303024","https://openalex.org/W3127381120","https://openalex.org/W2571178887","https://openalex.org/W3089390221"],"abstract_inverted_index":{"Building":[0],"a":[1,48,94,150],"complete":[2],"inertial":[3,44,56],"navigation":[4],"system":[5],"using":[6,138],"the":[7,32,36,68,84,100,116,131],"limited":[8],"quality":[9],"data":[10],"provided":[11],"by":[12,26,98],"current":[13],"smartphones":[14,39],"has":[15],"been":[16],"regarded":[17],"challenging,":[18],"if":[19],"not":[20],"impossible.":[21],"This":[22],"paper":[23],"shows":[24],"that":[25],"careful":[27],"crafting":[28],"and":[29,53,74,88,92,128,141,148],"accounting":[30],"for":[31,51],"weak":[33],"information":[34,108],"in":[35,71,90,93,143,149],"sensor":[37],"samples,":[38],"are":[40,80],"capable":[41],"of":[42,67],"pure":[43],"navigation.":[45],"We":[46,79,134],"present":[47],"probabilistic":[49],"approach":[50,137],"orientation":[52],"use-case":[54],"free":[55],"odometry,":[57],"which":[58],"is":[59,70,110],"based":[60],"on":[61],"double-integrating":[62],"rotated":[63],"accelerations.":[64],"The":[65,107],"strength":[66],"model":[69],"learning":[72],"additive":[73],"multiplicative":[75],"IMU":[76],"biases":[77],"online.":[78],"able":[81],"to":[82],"track":[83],"phone":[85,117],"position,":[86],"velocity,":[87],"pose":[89],"realtime":[91],"computationally":[95],"lightweight":[96],"fashion":[97],"solving":[99],"inference":[101],"with":[102,112],"an":[103,139],"extended":[104],"Kalman":[105],"filter.":[106],"fusion":[109],"completed":[111],"zero-velocity":[113],"updates":[114],"(if":[115,126],"remains":[118],"stationary),":[119],"altitude":[120],"correction":[121],"from":[122],"barometric":[123],"pressure":[124],"readings":[125],"available),":[127],"pseudo-updates":[129],"constraining":[130],"momentary":[132],"speed.":[133],"demonstrate":[135],"our":[136],"iPad":[140],"iPhone":[142],"several":[144],"indoor":[145],"dead-reckoning":[146],"applications":[147],"measurement":[151],"tool":[152],"setup.":[153]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
