{"id":"https://openalex.org/W2010812659","doi":"https://doi.org/10.3390/rs5126611","title":"Indoor Localization Algorithms for an Ambulatory Human Operated 3D Mobile Mapping System","display_name":"Indoor Localization Algorithms for an Ambulatory Human Operated 3D Mobile Mapping System","publication_year":2013,"publication_date":"2013-12-03","ids":{"openalex":"https://openalex.org/W2010812659","doi":"https://doi.org/10.3390/rs5126611","mag":"2010812659"},"language":"en","primary_location":{"id":"doi:10.3390/rs5126611","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs5126611","pdf_url":"https://www.mdpi.com/2072-4292/5/12/6611/pdf?version=1403135249","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/5/12/6611/pdf?version=1403135249","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068289328","display_name":"Nicholas Corso","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nicholas Corso","raw_affiliation_strings":["Video and Image Processing Lab, University of California, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Video and Image Processing Lab, University of California, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008034417","display_name":"Avideh Zakhor","orcid":"https://orcid.org/0000-0003-4770-6353"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Avideh Zakhor","raw_affiliation_strings":["Video and Image Processing Lab, University of California, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Video and Image Processing Lab, University of California, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5008034417","https://openalex.org/A5068289328"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":14.7256,"has_fulltext":true,"cited_by_count":45,"citation_normalized_percentile":{"value":0.98693535,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"5","issue":"12","first_page":"6611","last_page":"6646"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7835301160812378},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5123244524002075},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5076266527175903},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.49024301767349243},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4896288514137268},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4441334009170532},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44012895226478577},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.42563578486442566},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42561736702919006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4059564471244812},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.36688852310180664},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11561274528503418}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7835301160812378},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5123244524002075},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5076266527175903},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.49024301767349243},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4896288514137268},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4441334009170532},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44012895226478577},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.42563578486442566},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42561736702919006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4059564471244812},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.36688852310180664},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11561274528503418},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs5126611","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs5126611","pdf_url":"https://www.mdpi.com/2072-4292/5/12/6611/pdf?version=1403135249","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:023b4b3ab0934a36813e878b3ddb6072","is_oa":true,"landing_page_url":"https://doaj.org/article/023b4b3ab0934a36813e878b3ddb6072","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 5, Iss 12, Pp 6611-6646 (2013)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/5/12/6611/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs5126611","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing; Volume 5; Issue 12; Pages: 6611-6646","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs5126611","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs5126611","pdf_url":"https://www.mdpi.com/2072-4292/5/12/6611/pdf?version=1403135249","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5199999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332276","display_name":"Advanced Research Projects Agency - Energy","ror":"https://ror.org/03q1rgc19"},{"id":"https://openalex.org/F4320332815","display_name":"Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2010812659.pdf","grobid_xml":"https://content.openalex.org/works/W2010812659.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W118220758","https://openalex.org/W577701273","https://openalex.org/W1515999713","https://openalex.org/W1684737195","https://openalex.org/W1953793983","https://openalex.org/W1964803349","https://openalex.org/W1972602454","https://openalex.org/W1976809435","https://openalex.org/W1980641585","https://openalex.org/W1986591842","https://openalex.org/W1991902293","https://openalex.org/W1992419399","https://openalex.org/W1996985406","https://openalex.org/W1999210160","https://openalex.org/W1999343901","https://openalex.org/W2004312117","https://openalex.org/W2007837210","https://openalex.org/W2049981393","https://openalex.org/W2052014837","https://openalex.org/W2054804188","https://openalex.org/W2056427752","https://openalex.org/W2064169939","https://openalex.org/W2076884803","https://openalex.org/W2089468765","https://openalex.org/W2095437113","https://openalex.org/W2096020743","https://openalex.org/W2108833445","https://openalex.org/W2109508414","https://openalex.org/W2112510830","https://openalex.org/W2112793821","https://openalex.org/W2119538218","https://openalex.org/W2123432765","https://openalex.org/W2123755932","https://openalex.org/W2124464760","https://openalex.org/W2125420246","https://openalex.org/W2130763585","https://openalex.org/W2132804371","https://openalex.org/W2140711847","https://openalex.org/W2144824356","https://openalex.org/W2149675336","https://openalex.org/W2336416123","https://openalex.org/W3021653598","https://openalex.org/W3150627978","https://openalex.org/W4213121121","https://openalex.org/W4248122835","https://openalex.org/W6616653650","https://openalex.org/W6676506760","https://openalex.org/W6682233995"],"related_works":["https://openalex.org/W3162200841","https://openalex.org/W2586280620","https://openalex.org/W2805505483","https://openalex.org/W2334071950","https://openalex.org/W2384744344","https://openalex.org/W4233932308","https://openalex.org/W1799694159","https://openalex.org/W2393169196","https://openalex.org/W2366610330","https://openalex.org/W4242143973"],"abstract_inverted_index":{"Indoor":[0],"localization":[1],"and":[2,17,131,171,189],"mapping":[3,36,56],"is":[4,178],"an":[5,25,61,70,107,186],"important":[6],"problem":[7,97],"with":[8,101],"many":[9],"applications":[10],"such":[11],"as":[12],"emergency":[13],"response,":[14],"architectural":[15],"modeling,":[16],"historical":[18],"preservation.":[19],"In":[20,74],"this":[21],"paper,":[22],"we":[23,59,77,94,123,148],"develop":[24],"automatic,":[26],"off-line":[27],"pipeline":[28],"for":[29,90],"metrically":[30],"accurate,":[31],"GPS-denied,":[32],"indoor":[33],"3D":[34],"mobile":[35],"using":[37,168,180],"a":[38,44,118,191,211,216],"human-mounted":[39],"backpack":[40],"system":[41,176],"consisting":[42],"of":[43,46,98,133,158,194],"variety":[45],"sensors.":[47],"There":[48],"are":[49,81,87,165,199],"three":[50,203],"novel":[51],"contributions":[52],"in":[53,84,136,185,215],"our":[54],"proposed":[55,163],"approach.":[57],"First,":[58],"present":[60,124],"algorithm":[62,112],"which":[63],"automatically":[64,149],"detects":[65],"loop":[66,142,152],"closure":[67,143],"constraints":[68,80],"from":[69,154,206],"occupancy":[71],"grid":[72],"map.":[73],"doing":[75,146],"so,":[76,147],"ensure":[78],"that":[79,86,113],"detected":[82],"only":[83],"locations":[85],"well":[88],"conditioned":[89],"scan":[91,99,110],"matching.":[92],"Secondly,":[93],"address":[95],"the":[96,129,140,156,159],"matching":[100,111],"poor":[102,119],"initial":[103,120],"condition":[104],"by":[105],"presenting":[106],"outlier-resistant,":[108],"genetic":[109],"accurately":[114],"matches":[115],"scans":[116],"despite":[117],"condition.":[121],"Third,":[122],"two":[125],"metrics":[126],"based":[127],"on":[128,202],"amount":[130],"complexity":[132],"overlapping":[134],"geometry":[135],"order":[137],"to":[138],"vet":[139],"estimated":[141],"constraints.":[144],"By":[145],"prevent":[150],"erroneous":[151],"closures":[153],"degrading":[155],"accuracy":[157,193],"reconstructed":[160],"trajectory.":[161],"The":[162,174],"algorithms":[164],"experimentally":[166],"verified":[167],"both":[169],"controlled":[170],"real-world":[172],"data.":[173],"end-to-end":[175],"performance":[177],"evaluated":[179],"100":[181],"surveyed":[182],"control":[183],"points":[184],"office":[187],"environment":[188],"obtains":[190],"mean":[192],"10":[195],"cm.":[196],"Experimental":[197],"results":[198],"also":[200],"shown":[201],"additional":[204],"datasets":[205],"real":[207],"world":[208],"environments":[209],"including":[210],"1500":[212],"meter":[213],"trajectory":[214],"warehouse":[217],"sized":[218],"retail":[219],"shopping":[220],"center.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
