On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
The active badge location system
ACM Transactions on Information Systems (TOIS)
The interactive museum tour-guide robot
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
The anatomy of a context-aware application
MobiCom '99 Proceedings of the 5th annual ACM/IEEE international conference on Mobile computing and networking
Monte Carlo localization: efficient position estimation for mobile robots
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Computational principles of mobile robotics
Computational principles of mobile robotics
The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Robust Monte Carlo localization for mobile robots
Artificial Intelligence
The cricket compass for context-aware mobile applications
Proceedings of the 7th annual international conference on Mobile computing and networking
A Probabilistic Approach to Collaborative Multi-Robot Localization
Autonomous Robots
Markov Localization using Correlation
IJCAI '99 Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence
Multi-Camera Multi-Person Tracking for EasyLiving
VS '00 Proceedings of the Third IEEE International Workshop on Visual Surveillance (VS'2000)
Mobility modeling, location tracking, and trajectory prediction in wireless ATM networks
IEEE Journal on Selected Areas in Communications
WLAN Location Determination via Clustering and Probability Distributions
PERCOM '03 Proceedings of the First IEEE International Conference on Pervasive Computing and Communications
Secure verification of location claims
WiSe '03 Proceedings of the 2nd ACM workshop on Wireless security
Wireless LAN location-sensing for security applications
WiSe '03 Proceedings of the 2nd ACM workshop on Wireless security
Proceedings of the 1st ACM international workshop on Wireless mobile applications and services on WLAN hotspots
Position calibration of audio sensors and actuators in a distributed computing platform
MULTIMEDIA '03 Proceedings of the eleventh ACM international conference on Multimedia
Towards mobility as a network control primitive
Proceedings of the 5th ACM international symposium on Mobile ad hoc networking and computing
Visualization of wormholes in sensor networks
Proceedings of the 3rd ACM workshop on Wireless security
Architecture and techniques for diagnosing faults in IEEE 802.11 infrastructure networks
Proceedings of the 10th annual international conference on Mobile computing and networking
Localization for mobile sensor networks
Proceedings of the 10th annual international conference on Mobile computing and networking
VOR base stations for indoor 802.11 positioning
Proceedings of the 10th annual international conference on Mobile computing and networking
Practical robust localization over large-scale 802.11 wireless networks
Proceedings of the 10th annual international conference on Mobile computing and networking
Error characteristics and calibration-free techniques for wireless LAN-based location estimation
Proceedings of the second international workshop on Mobility management & wireless access protocols
The Horus WLAN location determination system
Proceedings of the 3rd international conference on Mobile systems, applications, and services
Accuracy characterization for metropolitan-scale Wi-Fi localization
Proceedings of the 3rd international conference on Mobile systems, applications, and services
ARIADNE: a dynamic indoor signal map construction and localization system
Proceedings of the 4th international conference on Mobile systems, applications and services
PinPoint: An Asynchronous Time-Based Location Determination System
Proceedings of the 4th international conference on Mobile systems, applications and services
Power-Efficient Access-Point Selection for Indoor Location Estimation
IEEE Transactions on Knowledge and Data Engineering
Proceedings of the 2006 international conference on Wireless communications and mobile computing
Mobile Networks and Applications - Special issue: Wireless mobile wireless applications and services on WLAN hotspots
IEEE Transactions on Knowledge and Data Engineering
Detecting identity-based attacks in wireless networks using signalprints
WiSe '06 Proceedings of the 5th ACM workshop on Wireless security
Probabilistic localization for outdoor wireless sensor networks
ACM SIGMOBILE Mobile Computing and Communications Review
Preserving location privacy in wireless lans
Proceedings of the 5th international conference on Mobile systems, applications and services
Reducing the Calibration Effort for Probabilistic Indoor Location Estimation
IEEE Transactions on Mobile Computing
Kernel-Based Positioning in Wireless Local Area Networks
IEEE Transactions on Mobile Computing
Loc{lib,trace,eva,ana}: research tools for 802.11-based positioning systems
Proceedings of the second ACM international workshop on Wireless network testbeds, experimental evaluation and characterization
EURASIP Journal on Applied Signal Processing
Interactive wormhole detection and evaluation
Information Visualization
Pervasive and Mobile Computing
Introducing a decision tree-based indoor positioning technique
Expert Systems with Applications: An International Journal
Information Sciences: an International Journal
Visualisation of wormholes in underwater sensor networks: a distributed approach
International Journal of Security and Networks
Securing Wi-Fi networks with position verification: extended version
International Journal of Security and Networks
Automatic identification of informal social groups and places for geo-social recommendations
International Journal of Mobile Network Design and Innovation
Empirical-based analysis of a cooperative location-sensing system
Proceedings of the 1st international conference on Autonomic computing and communication systems
INEMO: distributed RF-based indoor location determination with confidence indicator
EURASIP Journal on Advances in Signal Processing
Activity recognition via user-trace segmentation
ACM Transactions on Sensor Networks (TOSN)
Position location using a minimum square error method: an indoor environment implementation
TELE-INFO'05 Proceedings of the 4th WSEAS International Conference on Telecommunications and Informatics
The Horus location determination system
Wireless Networks
CILoS: a CDMA indoor localization system
UbiComp '08 Proceedings of the 10th international conference on Ubiquitous computing
An Accurate and Fast WLAN User Location Estimation Method Based on Received Signal Strength
ICCS '07 Proceedings of the 7th international conference on Computational Science, Part III: ICCS 2007
An effective location fingerprint model for wireless indoor localization
Pervasive and Mobile Computing
Location management scheme with WLAN positioning algorithm for integrated wireless networks
Computer Communications
Pretty Easy Pervasive Positioning
SSTD '09 Proceedings of the 11th International Symposium on Advances in Spatial and Temporal Databases
Seamless indoor/outdoor positioning with streamspin
Proceedings of the 5th Annual International Conference on Mobile and Ubiquitous Systems: Computing, Networking, and Services
High-level goal recognition in a wireless LAN
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Large-scale localization from wireless signal strength
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 1
Transferring localization models over time
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Accurate and low-cost location estimation using kernels
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Optimisations for LocSens – an indoor location tracking system using wireless sensors
International Journal of Sensor Networks
Unsupervised context detection using wireless signals
Pervasive and Mobile Computing
Empirical evaluation of the limits on localization using signal strength
SECON'09 Proceedings of the 6th Annual IEEE communications society conference on Sensor, Mesh and Ad Hoc Communications and Networks
Query privacy in wireless sensor networks
ACM Transactions on Sensor Networks (TOSN)
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Analysis of the optimal strategy for WLAN location determination systems
International Journal of Modelling and Simulation
Fast localization in indoor environments
CISDA'09 Proceedings of the Second IEEE international conference on Computational intelligence for security and defense applications
Unsupervised Learning for Solving RSS Hardware Variance Problem in WiFi Localization
Mobile Networks and Applications
LoCA'07 Proceedings of the 3rd international conference on Location-and context-awareness
A taxonomy for radio location fingerprinting
LoCA'07 Proceedings of the 3rd international conference on Location-and context-awareness
Comparison of WiFi map construction methods for WiFi POMDP navigation systems
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Neighbor-assisted location calibration mechanism in wireless network
GLOBECOM'09 Proceedings of the 28th IEEE conference on Global telecommunications
The directional attack on wireless localization: how to spoof your location with a tin can
GLOBECOM'09 Proceedings of the 28th IEEE conference on Global telecommunications
A calibration-free localization solution for handling signal strength variance
MELT'09 Proceedings of the 2nd international conference on Mobile entity localization and tracking in GPS-less environments
Ensemble: cooperative proximity-based authentication
Proceedings of the 8th international conference on Mobile systems, applications, and services
Empirical evaluation of signal-strength fingerprint positioning in wireless LANs
Proceedings of the 13th ACM international conference on Modeling, analysis, and simulation of wireless and mobile systems
Localization in wireless sensor networks with known coordinate database
EURASIP Journal on Wireless Communications and Networking - Special issue on signal processing-assisted protocols and algorithms for cooperating objects and wireless sensor networks
A location-based management system for enterprise wireless LANs
NSDI'07 Proceedings of the 4th USENIX conference on Networked systems design & implementation
Proceedings of the 5th International Conference on Communication System Software and Middleware
Kalman filter vs. particle filter in improving K-NN indoor positioning
KES'11 Proceedings of the 15th international conference on Knowledge-based and intelligent information and engineering systems - Volume Part II
WiGEM: a learning-based approach for indoor localization
Proceedings of the Seventh COnference on emerging Networking EXperiments and Technologies
Automatic mitigation of sensor variations for signal strength based location systems
LoCA'06 Proceedings of the Second international conference on Location- and Context-Awareness
UCS'04 Proceedings of the Second international conference on Ubiquitous Computing Systems
Towards smart surroundings: enabling techniques and technologies for localization
LoCA'05 Proceedings of the First international conference on Location- and Context-Awareness
Accurate GSM indoor localization
UbiComp'05 Proceedings of the 7th international conference on Ubiquitous Computing
Analysis of WLAN's received signal strength indication for indoor location fingerprinting
Pervasive and Mobile Computing
WLAN location-aware application based on accumulated orientation strength algorithm
EuroSSC'06 Proceedings of the First European conference on Smart Sensing and Context
Sensing and Filtering: A Fresh Perspective Based on Preimages and Information Spaces
Foundations and Trends in Robotics
Mapping based on a noisy range-only sensor
EUROCAST'11 Proceedings of the 13th international conference on Computer Aided Systems Theory - Volume Part II
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Camera localization in distributed networks using trajectory estimation
Journal of Electrical and Computer Engineering
A time cost optimization for similar scenarios mobile GIS queries
Journal of Visual Languages and Computing
A semantics-based framework for context-aware services: lessons learned and challenges
UIC'07 Proceedings of the 4th international conference on Ubiquitous Intelligence and Computing
Positioning system in taipei children's museum of transportation and communication
ISPA'07 Proceedings of the 2007 international conference on Frontiers of High Performance Computing and Networking
Indoor location prediction using multiple wireless received signal strengths
AusDM '08 Proceedings of the 7th Australasian Data Mining Conference - Volume 87
A model for WLAN signal attenuation of the human body
Proceedings of the 2013 ACM international joint conference on Pervasive and ubiquitous computing
Integrated online localization and navigation for people with visual impairments using smart phones
ACM Transactions on Interactive Intelligent Systems (TiiS)
Smart cities software: customized messages for mobile subscribers
WiFlex'13 Proceedings of the First international conference on Wireless Access Flexibility
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A key subproblem in the construction of location-aware systems is the determination of the position of a mobile device. This paper describes the design, implementation and analysis of a system for determining position inside a building from measured RF signal strengths of packets on an IEEE 802.11b wireless Ethernet network. Previous approaches to location awareness with RF signals have been severely hampered by non-linearity, noise and complex correlations due to multi-path effects, interference and absorption. The design of our system begins with the observation that determining position from complex, noisy and non-linear signals is a well-studied problem in the field of robotics. Using only off-the-shelf hardware, we achieve robust position estimation to within a meter in our experimental context and after adequate training of our system. We can also coarsely determine our orientation and can track our position as we move. By applying recent advances in probabilistic inference of position and sensor fusion from noisy signals, we show that the RF emissions from base stations as measured by off-the-shelf wireless Ethernet cards are sufficiently rich in information to permit a mobile device to reliably track its location.