The active badge location system
ACM Transactions on Information Systems (TOIS)
Hidden surface removal using polygon area sorting
SIGGRAPH '77 Proceedings of the 4th annual conference on Computer graphics and interactive techniques
TRIP: A Low-Cost Vision-Based Location System for Ubiquitous Computing
Personal and Ubiquitous Computing
A Probabilistic Room Location Service for Wireless Networked Environments
UbiComp '01 Proceedings of the 3rd international conference on Ubiquitous Computing
Learning Significant Locations and Predicting User Movement with GPS
ISWC '02 Proceedings of the 6th IEEE International Symposium on Wearable Computers
Practical robust localization over large-scale 802.11 wireless networks
Proceedings of the 10th annual international conference on Mobile computing and networking
The Horus location determination system
Wireless Networks
Pedestrian localisation for indoor environments
UbiComp '08 Proceedings of the 10th international conference on Ubiquitous computing
Location sensing and privacy in a context-aware computing environment
IEEE Wireless Communications
Autonomous construction of a WiFi access point map using multidimensional scaling
Pervasive'11 Proceedings of the 9th international conference on Pervasive computing
Pedestrian-movement prediction based on mixed Markov-chain model
Proceedings of the 19th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems
Zee: zero-effort crowdsourcing for indoor localization
Proceedings of the 18th annual international conference on Mobile computing and networking
The impact of sensor errors and building structures on particle filter-based inertial positioning
Pervasive and Mobile Computing
Smartphone-based pedestrian tracking in indoor corridor environments
Personal and Ubiquitous Computing
Pedestrian Navigation Based on Inertial Sensors, Indoor Map, and WLAN Signals
Journal of Signal Processing Systems
Smartphone-based Wi-Fi tracking system exploiting the RSS peak to overcome the RSS variance problem
Pervasive and Mobile Computing
Wi-Fi fingerprinting through active learning using smartphones
Proceedings of the 2013 ACM conference on Pervasive and ubiquitous computing adjunct publication
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Location information is an important source of context for ubiquitous computing systems. We have previously developed a wearable location system that combines a foot-mounted inertial unit, a detailed building model and a particle filter to locate and track humans in indoor environments. In this paper we present an algorithm in which a map of radio beacon signal strengths is used to solve two of the major problems with the original system: scalability to large environments and uncertainty due to environmental symmetry. We show that the algorithm allows the deployment of the system in arbitrarily large buildings, and that uncertainty due to environmental symmetry is reduced. This reduction allows a user to be located after taking an average of 38 steps in a 8725 m2 three-storey building, compared with 76 steps in the original system. Finally, we show that radio maps such as those required by the algorithm can be generated quickly and automatically using the wearable location system itself. We demonstrate this by building a radio map for the 8725 m2 building in under two and a half hours.