| Vol-2498 urn:nbn:de:0074-2498-0 Copyright © 2019 for the individual papers by the papers' authors. Copying permitted for private and academic purposes. This volume is published and copyrighted by its editors.

# IPIN-WiP 2019
Indoor Positioning and Indoor Navigation - Work-in-Progress Papers

### Short Paper Proceedings of the Tenth International Conference on Indoor Positioning and Indoor Navigation - Work-in-Progress Papers (IPIN-WiP 2019)
co-located with the Tenth International Conference on Indoor Positioning and Indoor Navigation (IPIN 2019)

### Pisa, Italy, September 30th - October 3rd, 2019.

Edited by

### Francesco Potortì *
Valérie Renaudin **
Kyle O'Keefe ***
Filippo Palumbo *

* CNR - Consiglio Nazionale delle Ricerche -- Istituto di Scienza e Tecnologie dell'Informazione "Alessandro Faedo", Area della Ricerca CNR di Pisa, Via G. Moruzzi 1, 56124 Pisa, Italy
** IFSTTAR - Institut français des sciences et technologies des transports, de l'aménagement et des réseaux, GEOLOC, Allée des Ponts et Chaussées, Route de Bouaye - CS 5004 - 44344 Bouguenais Cedex
*** University of Calgary, Department of Geomatics Engineering, 2500 University Drive NW, Calgary, Alberta T2N 1N4, Canada

## Table of Contents

- Preface

### Short Papers

- Fusion of time of arrival and time difference of arrival for ultra-wideband indoor localization 1-8
  Juri Sidorenko, Volker Schatz, Norbert Scherer-Negenborn, Michael Arens, Urs Hugentobler
- Pixel-based map matching algorithm for pedestrian dead reckoning system 9-16
  Yew Fei Tang
- Indoor crowd density estimation for efficient monitoring system 17-24
  Phong Nguyen, Takayuki Akiyama
- Radio map estimation with neural networks and active learning for indoor localization 25-31
  Sila Guler, Serhan Danis, Ali Taylan Cemgil
- A novel indoor ranging algorithm based on received signal strength and channel state information 32-39
  Jing Jing Wang, Jun Gyu Hwang, Joon Goo Park
- A probabilistic fingerprinting method for indoor localization based on RBF network 40-47
  Yangkang Yu, Ling Yang
- Tracking body motions in order to guide a robot using the time of flight technology 48-55
  Feryel Zoghlami, Harald Heinrich, Germar Schneider, Mohamed Ali Hamdi
- Smartphone sensors based indoor localization using deep neural networks 56-63
  Imran Ashraf, Soojung Hur, Yongwan Park
- Delta range positioning assisted with satellites 64-71
  Alexandre Vervisch, Nel Samama
- 3D tracking using smartphones for a marker-based optical motion capture system 72-79
  Kengo Teramoto, Ryo Mukainakano, Hiroki Watanabe, Hiromichi Hashizume, Masanori Sugimoto
- Evaluation of a UWB localization system in static and dynamic 80-86
  Mickael Delamare, Remi Boutteau, Xavier Savatier, Nicolas Iriart
- Successive collaborative SLAM for professional use cases: map learning aspects 87-94
  Susanna Kaiser
- Senior monitoring: a real case of applying a WiFi fingerprinting-based indoor positioning method for people monitoring 95-102
  Raul Montoliu, Emilio Sansano, Arturo Gascó, Oscar Belmonte, Antonio Caballer
- RSSI-ranging method using pattern diversity and distance-based reliability function 103-108
  Daichi Kitamura, Naoki Honma, Kazushi Naruke, Atsushi Miura, Yusuke Sugawara
- A cloud-based parallel system for locating customers in indoor malls 109-116
  Pedro Álvarez, Noelia Hernández, Fco Javier Fabra, Manuel Ocaña
- A GM/DR integrated navigation scheme for road network application 117-124
  Xinchun Ji, Dongyan Wei, Wen Li, Yi Lu, Hong Yuan
- Performance evaluation of direction of arrival RSSI monopulse function in an indoor location system for different Wi-Fi mobile devices 125-132
  Jose López-Pastor, Antonio Gómez-Alcaráz, David Cañete-Rebenaque, Alejandro Santos Martínez-Sala, José Luis Gómez-Tornero
- Impact of NLOS identification on UWB-based localization systems 133-140
  Valentín Barral, Carlos Escudero, Pedro Suárez-Casal, José García-Naya
- Indoor navigation for a library 141-148
  Janek Stoeck, Harald Sternberg
- Azimuth estimation for indoor localization using redundant planar circular photodiode array 149-156
  Gergely Zachár, Gergely Vakulya, Gyula Simon
- Vector calibration for magnetic field based indoor localization 157-164
  Wonjoon Son, Lynn Choi
- A comparison of human body wearable sensor positions for UWB-based indoor localization 165-171
  Timothy Otim, Luis Díez, Alfonso Bahillo, Peio Lopez-Iturri, Francisco Falcone
- Pedestrian dead-reckoning using multiple low-cost inertial/magnetic sensors on lower limbs 172-179
  Chandra Tjhai, Kyle O'Keefe
- Estimating vehicle-to-vehicle relative position and attitude using multiple UWB ranges 180-186
  Ehab Ghanem, Kyle O'Keefe, Richard Klukas
- WPIN: A waypoint-based indoor navigation system 187-194
  Edward Chu, Shih-Chia Wang, Chao-Chun Chang, Jane Liu, Jiun Hsu, Hui-Mei Wu
- In use IMU calibration and pose estimation 195-202
  Henk Kortier
- 5G networks three-dimensional indoor positioning based on improved Chan algorithm 203-210
  Jiazhi Han, Fuxing Yang, Ke Han, Zhongliang Deng, Jingwen Jiang, Jiawen Zhang, Lingjie Shi, Xiao Fu, Jiawei Fu
- Experimental TDoA localisation in real public LoRa networks 211-218
  Nico Podevijn, David Plets, Michiel Aernouts, Rafael Berkvens, Luc Martens, Maarten Weyn, Wout Joseph
- From point cloud to IndoorGML 219-226
  Ki-Joune Li, Dean Hintz, Nakju Doh, Mohsen Kalantari, Sung-Hwan Kim, Jeb Benson, Bart De Lathouwer, Scott Serich
- Evaluation of positioning and ranging errors for UWB indoor applications 227-234
  Vincenzo Di Pietra, Paolo Dabove, Marco Piras, Andrea Lingua
- Indoor localization using multiple stereo speakers for smartphones 235-242
  Masanari Nakamura, Hiroshi Kameda
- Covariance error analysis for pedestrian dead reckoning with foot mounted IMU 243-250
  Yury Bolotin, Alexander Bragin, Ilya Gartseev
- A recursive NLOS bias estimation and correction algorithm 251-258
  Sara Alshamsi, Ubaid Ahmad, James Aweya, Nawaf Almoosa
- Investigation of indoor positioning technologies for underground mine environments 259-266
  Binghao Li, Kai Zhao, Serkan Saydam, Chris Rizos, Qiang Wang, Jian Wang
- Review of UAV positioning in indoor environments and new proposal based on US measurements 267-274
  Maria del Carmen Pérez, David Gualda, Jorge De Vicente-Ranera, Jose Manuel Villadangos, Jesús Ureña
- A set-membership approach for visible light positioning with fluctuated RSS measurements 275-282
  Zhan Wang, Xun Zhang, Alain Lambert, Lina Shi, Wenxiao Wang
- User requirements for indoor geo-localization system for manufacturing shop floor and selection of appropriate product 283-290
  Manish Kumar, Kapil Saini, Thierry Roussel
- Pals: high-accuracy pedestrian localization with fusion of smartphone acoustics and PDR 291-298
  Hucheng Wang, Lei Zhang, Zhi Wang, Xiaonan Luo
- STEPS - indoor visual navigation framework for mobile devices 299-306
  Yael Landau, Boaz Ben-Moshe, Revital Marbel
- Binary fingerprinting-based positioning systems with uncertainty regions 307-314
  Miguel Omeñaca Muro, Marouan Mizmizi, Luca Reggiani
- Design and implementation of a remotely configurable ultrasonic local positioning systems 315-322
  Francisco Ciudad, Álvaro Hernández, David Gualda, Elena Aparicio-Esteve
- Smartphone indoor positioning using WiFi, PDR, magnetic fingerprints and particle filtering 323-330
  Stefan Knauth
- Mean-offset classifier based Wi-Fi indoor positioning system 331-338
  Pasungili Ramakrishnan, Herman Myburgh
- Modelling indoor spaces to support vision impaired navigation using an ontology based approach 339-346
  Nimalika Fernando, David McMeekin, Iain Murray
- Indoor location for emergency responders using LTE D2D communications waveform 347-354
  Howard Fan, Anusha Kilari, Krishna Vemuri, Isaac Daffron, Julian Wang, Vijayavignesh Ramamurthy
- Coverage analysis of an ultrasonic local positioning system according to the angle of inclination of the beacons structure 355-361
  David Gualda, Jesús Ureña, Juan Jesús García, Ana Jiménez, Maria del Carmen Pérez, Francisco Ciudad
- Indoor positioning in large environments: ultrasonic and UWB technologies 362-369
  David Gualda, José Manuel Villadangos, Jesús Ureña, Antonio Jiménez Ruiz, Fernando Seco, Álvaro Hernández
- Reduction of heading error using dual foot-mounted IMU 370-376
  Jae Hong Lee, So Young Park, Seong Yun Cho, Chan Gook Park
- A 3-D cooperative base station localization method applied in large complex indoor environment 377-384
  Xiaoxuan Wang, Peng Sun, Minlin Chen, Hucheng Wang, Zhi Wang
- Daily action dead reckoning using smartphone sensors 385-392
  Takumi Otsuki, Kohei Kanagu, Kota Tsubouchi, Nobuhiko Nishio
- Fusion of integration and parametric approach in smartphone-based system for multi-pose 393-399
  So Young Park, Jae Hong Lee, Hyunwoong Kang, Chan Gook Park
- Occlusion-based trajectory estimation for pedestrians using LiDAR sensors 400-407
  Takayuki Saki, Akihito Hiromori, Hirozumi Yamaguchi, Teruo Higashino
- Non-restraint human authentication using MIMO array 408-415
  Shoichi Iizuka, Takeshi Nakayama, Dai Sasakawa, Naoki Honma
- LIMUS: exploration of technological prototypes for location-based services in museums 416-422
  Juan Diego Gutiérrez Gallardo, Fernando Aranda-Polo, Teodoro Aguilera Benítez, Fernando Álvarez Franco
- Indoor localization based on analysis of environmental ultrasound 423-430
  Yudai Nagama, Takeshi Umezawa, Noritaka Osawa,
- Improving BLE deterministic fingerprinting by using a weighted k-NN algorithm over filtered RSSI data 431-438
  Fernando Aranda-Polo, José Parades, Teodoro Aguilera Benítez, Fernando Álvarez Franco
- A destination prediction algorithm using spatial temporal bidirectional LSTM networks 439-446
  Zhaoxu Lu, Fang Zhao, Haiyong Luo, Qu Wang, Wenhua Shao
- Multi-pedestrian tracking system based on asynchronized IMUs 447-454
  Chuanhua Lu, Hideaki Uchiyama, Diego Thomas, Atsushi Shimada, Rin-ichiro Taniguchi
- Indoor magnetic positioning with an array of magnetic field sensors 455-462
  Byungmun Kang, Jiseung Jung, DaeEun Kim
- End-to-end walking speed estimation method for smartphone PDR using DualCNN-LSTM 463-470
  Nobuo Kawaguchi, Junto Nozaki, Takuto Yoshida, Kei Hiroi, Takuro Yonezawa, Katsuhiko Kaji
- Autonomous integrity monitoring of a vision based pedestrian dead reckoning system 471-478
  Wang Yuqin, Tang Biyu, Zheng Lingxiang, Lin Zhichao

2019-11-11: submitted by Filippo Palumbo, metadata incl. bibliographic data published under Creative Commons CC0
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