{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T00:01:41Z","timestamp":1780444901591,"version":"3.54.1"},"reference-count":153,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2020,5,2]],"date-time":"2020-05-02T00:00:00Z","timestamp":1588377600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2020,5,2]],"date-time":"2020-05-02T00:00:00Z","timestamp":1588377600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100004252","name":"Qatar University","doi-asserted-by":"publisher","award":["QUHI-CENG-18\/19-1"],"award-info":[{"award-number":["QUHI-CENG-18\/19-1"]}],"id":[{"id":"10.13039\/501100004252","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Hum. Cent. Comput. Inf. Sci."],"published-print":{"date-parts":[[2020,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Navigation systems help users access unfamiliar environments. Current technological advancements enable users to encapsulate these systems in handheld devices, which effectively increases the popularity of navigation systems and the number of users. In indoor environments, lack of Global Positioning System (GPS) signals and line of sight with orbiting satellites makes navigation more challenging compared to outdoor environments. Radio frequency (RF) signals, computer vision, and sensor-based solutions are more suitable for tracking the users in indoor environments. This article provides a comprehensive summary of evolution in indoor navigation and indoor positioning technologies. In particular, the paper reviews different computer vision-based indoor navigation and positioning systems along with indoor scene recognition methods that can aid the indoor navigation. Navigation and positioning systems that utilize pedestrian dead reckoning (PDR) methods and various communication technologies, such as Wi-Fi, Radio Frequency Identification (RFID) visible light, Bluetooth and ultra-wide band (UWB), are detailed as well. Moreover, this article investigates and contrasts the different navigation systems in each category. Various evaluation criteria for indoor navigation systems are proposed in this work. The article concludes with a brief insight into future directions in indoor positioning and navigation systems.<\/jats:p>","DOI":"10.1186\/s13673-020-00222-0","type":"journal-article","created":{"date-parts":[[2020,5,2]],"date-time":"2020-05-02T13:03:27Z","timestamp":1588424607000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":226,"title":["Indoor positioning and wayfinding systems: a survey"],"prefix":"10.1186","volume":"10","author":[{"given":"Jayakanth","family":"Kunhoth","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"AbdelGhani","family":"Karkar","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Somaya","family":"Al-Maadeed","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Abdulla","family":"Al-Ali","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2020,5,2]]},"reference":[{"issue":"7","key":"222_CR1","doi-asserted-by":"publisher","first-page":"075202","DOI":"10.1088\/0957-0233\/19\/7\/075202","volume":"19","author":"S Godha","year":"2008","unstructured":"Godha S, Lachapelle G (2008) Foot mounted inertial system for pedestrian navigation. Meas Sci Technol 19(7):075202. https:\/\/doi.org\/10.1088\/0957-0233\/19\/7\/075202","journal-title":"Meas Sci Technol"},{"key":"222_CR2","unstructured":"Meers S, Ward K (2005) A substitute vision system for providing 3d perception and gps navigation via electro-tactile stimulation"},{"issue":"5","key":"222_CR3","first-page":"121","volume":"10","author":"H Koyuncu","year":"2010","unstructured":"Koyuncu H, Yang SH (2010) A survey of indoor positioning and object locating systems. IJCSNS Int J Comput Sci Netw Secur 10(5):121\u2013128","journal-title":"IJCSNS Int J Comput Sci Netw Secur"},{"issue":"3","key":"222_CR4","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1017\/S0373463311000051","volume":"64","author":"PA Zandbergen","year":"2011","unstructured":"Zandbergen PA, Barbeau SJ (2011) Positional accuracy of assisted GPS data from high-sensitivity GPS-enabled mobile phones. J Navig 64(3):381\u2013399. https:\/\/doi.org\/10.1017\/S0373463311000051","journal-title":"J Navig"},{"key":"222_CR5","doi-asserted-by":"publisher","unstructured":"Bay H, Ess A, Tuytelaars T, van Gool L (2008) Speeded-up robust features (surf). Computer vision and image understanding. Similarity matching in computer vision and multimedia 110(3), 346\u2013359. https:\/\/doi.org\/10.1016\/j.cviu.2007.09.014","DOI":"10.1016\/j.cviu.2007.09.014"},{"key":"222_CR6","doi-asserted-by":"crossref","unstructured":"Wang H, Zhang S (2011) Evaluation of global descriptors for large scale image retrieval. In: International conference on image analysis and processing, Springer, pp 626\u2013635","DOI":"10.1007\/978-3-642-24085-0_64"},{"issue":"5","key":"222_CR7","doi-asserted-by":"publisher","first-page":"10491","DOI":"10.4249\/scholarpedia.10491","volume":"7","author":"T Lindeberg","year":"2012","unstructured":"Lindeberg T (2012) Scale invariant feature transform. Scholarpedia 7(5):10491. https:\/\/doi.org\/10.4249\/scholarpedia.10491","journal-title":"Scholarpedia"},{"issue":"7553","key":"222_CR8","doi-asserted-by":"publisher","first-page":"436","DOI":"10.1038\/nature14539","volume":"521","author":"Y LeCun","year":"2015","unstructured":"LeCun Y, Bengio Y, Hinton G (2015) Deep learning. Nature 521(7553):436. https:\/\/doi.org\/10.1038\/nature14539","journal-title":"Nature"},{"key":"222_CR9","doi-asserted-by":"publisher","first-page":"493","DOI":"10.1007\/978-3-319-16199-0_35","volume-title":"Computer vision\u2014ECCV 2014 workshops","author":"YH Lee","year":"2015","unstructured":"Lee YH, Medioni G (2015) Wearable RGBD indoor navigation system for the blind. In: Agapito L, Bronstein MM, Rother C (eds) Computer vision\u2014ECCV 2014 workshops. Springer, Cham, pp 493\u2013508"},{"issue":"6","key":"222_CR10","doi-asserted-by":"publisher","first-page":"1137","DOI":"10.1587\/transinf.E94.D.1137","volume":"94","author":"D Kamisaka","year":"2011","unstructured":"Kamisaka D, Muramatsu S, Iwamoto T, Yokoyama H (2011) Design and implementation of pedestrian dead reckoning system on a mobile phone. IEICE Trans Inf Syst 94(6):1137\u20131146","journal-title":"IEICE Trans Inf Syst"},{"key":"222_CR11","doi-asserted-by":"publisher","unstructured":"Ban R, Kaji K, Hiroi K, Kawaguchi N (2015) Indoor positioning method integrating pedestrian dead reckoning with magnetic field and wifi fingerprints. In: 2015 eighth international conference on mobile computing and ubiquitous networking (ICMU), pp 167\u2013172. https:\/\/doi.org\/10.1109\/ICMU.2015.7061061","DOI":"10.1109\/ICMU.2015.7061061"},{"key":"222_CR12","unstructured":"Woodman OJ (August 2007) An introduction to inertial navigation. Technical report UCAM-CL-TR-696, University of Cambridge, Computer Laboratory. https:\/\/www.cl.cam.ac.uk\/techreports\/UCAM-CL-TR-696.pdf. Accessed 10 Nov 2019"},{"key":"222_CR13","doi-asserted-by":"publisher","unstructured":"Bouet M, dos Santos AL (2008) Rfid tags: positioning principles and localization techniques. In: 2008 1st IFIP wireless days, pp 1\u20135. https:\/\/doi.org\/10.1109\/WD.2008.4812905","DOI":"10.1109\/WD.2008.4812905"},{"issue":"2","key":"222_CR14","doi-asserted-by":"publisher","first-page":"323","DOI":"10.1017\/S0373463308005195","volume":"62","author":"Q Fu","year":"2009","unstructured":"Fu Q, Retscher G (2009) Active RFID trilateration and location fingerprinting based on rssi for pedestrian navigation. J Navig 62(2):323\u2013340. https:\/\/doi.org\/10.1017\/S0373463308005195","journal-title":"J Navig"},{"issue":"1","key":"222_CR15","doi-asserted-by":"publisher","first-page":"466","DOI":"10.1109\/COMST.2015.2464084","volume":"18","author":"S He","year":"2016","unstructured":"He S, Chan S-G (2016) Wi-fi fingerprint-based indoor positioning: recent advances and comparisons. IEEE Commun Surv Tutor 18(1):466\u2013490. https:\/\/doi.org\/10.1109\/COMST.2015.2464084","journal-title":"IEEE Commun Surv Tutor"},{"key":"222_CR16","doi-asserted-by":"publisher","first-page":"12","DOI":"10.1155\/2013\/185138","volume":"2013","author":"Z Farid","year":"2013","unstructured":"Farid Z, Nordin R, Ismail M (2013) Recent advances in wireless indoor localization techniques and system. J Comput Netw Commun 2013:12. https:\/\/doi.org\/10.1155\/2013\/185138","journal-title":"J Comput Netw Commun"},{"key":"222_CR17","doi-asserted-by":"publisher","DOI":"10.3390\/s16050678","author":"T-H Do","year":"2016","unstructured":"Do T-H, Yoo M (2016) An in-depth survey of visible light communication based positioning systems. Sensors. https:\/\/doi.org\/10.3390\/s16050678","journal-title":"Sensors"},{"key":"222_CR18","doi-asserted-by":"publisher","DOI":"10.3390\/s16050707","author":"A Alarifi","year":"2016","unstructured":"Alarifi A, Al-Salman A, Alsaleh M, Alnafessah A, Al-Hadhrami S, Al-Ammar MA, Al-Khalifa HS (2016) Ultra wideband indoor positioning technologies: analysis and recent advances. Sensors. https:\/\/doi.org\/10.3390\/s16050707","journal-title":"Sensors"},{"issue":"2","key":"222_CR19","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","volume":"4","author":"PE Hart","year":"1968","unstructured":"Hart PE, Nilsson NJ, Raphael B (1968) A formal basis for the heuristic determination of minimum cost paths. IEEE Trans Syst Sci Cybern 4(2):100\u2013107. https:\/\/doi.org\/10.1109\/TSSC.1968.300136","journal-title":"IEEE Trans Syst Sci Cybern"},{"issue":"3","key":"222_CR20","doi-asserted-by":"publisher","first-page":"385","DOI":"10.1145\/321765.321768","volume":"20","author":"DB Johnson","year":"1973","unstructured":"Johnson DB (1973) A note on dijkstra\u2019s shortest path algorithm. J ACM 20(3):385\u2013388. https:\/\/doi.org\/10.1145\/321765.321768","journal-title":"J ACM"},{"key":"222_CR21","first-page":"1652","volume":"95","author":"A Stentz","year":"1995","unstructured":"Stentz A et al (1995) The focussed d* algorithm for real-time replanning. IJCAI 95:1652\u20131659","journal-title":"IJCAI"},{"issue":"6","key":"222_CR22","doi-asserted-by":"publisher","first-page":"345","DOI":"10.1145\/367766.368168","volume":"5","author":"RW Floyd","year":"1962","unstructured":"Floyd RW (1962) Algorithm 97: shortest path. Commun ACM 5(6):345. https:\/\/doi.org\/10.1145\/367766.368168","journal-title":"Commun ACM"},{"issue":"12","key":"222_CR23","doi-asserted-by":"publisher","first-page":"32168","DOI":"10.3390\/s151229912","volume":"15","author":"AS Martinez-Sala","year":"2015","unstructured":"Martinez-Sala AS, Losilla F, S\u00e1nchez-Aarnoutse JC, Garc\u00eda-Haro J (2015) Design, implementation and evaluation of an indoor navigation system for visually impaired people. Sensors 15(12):32168\u201332187. https:\/\/doi.org\/10.3390\/s151229912","journal-title":"Sensors"},{"issue":"3","key":"222_CR24","doi-asserted-by":"publisher","first-page":"583","DOI":"10.1109\/TNSRE.2018.2800665","volume":"26","author":"RK Katzschmann","year":"2018","unstructured":"Katzschmann RK, Araki B, Rus D (2018) Safe local navigation for visually impaired users with a time-of-flight and haptic feedback device. IEEE Trans Neural Syst Rehabil Eng 26(3):583\u2013593. https:\/\/doi.org\/10.1109\/TNSRE.2018.2800665","journal-title":"IEEE Trans Neural Syst Rehabil Eng"},{"issue":"1","key":"222_CR25","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1093\/iwc\/iws010","volume":"25","author":"N Fallah","year":"2013","unstructured":"Fallah N, Apostolopoulos I, Bekris K, Folmer E (2013) Indoor human navigation systems: a survey. Interact Comput 25(1):21\u201333. https:\/\/doi.org\/10.1093\/iwc\/iws010","journal-title":"Interact Comput"},{"issue":"3","key":"222_CR26","doi-asserted-by":"publisher","first-page":"1281","DOI":"10.1109\/SURV.2012.121912.00075","volume":"15","author":"R Harle","year":"2013","unstructured":"Harle R (2013) A survey of indoor inertial positioning systems for pedestrians. IEEE Commun Surv Tutor 15(3):1281\u20131293. https:\/\/doi.org\/10.1109\/SURV.2012.121912.00075","journal-title":"IEEE Commun Surv Tutor"},{"issue":"2","key":"222_CR27","doi-asserted-by":"publisher","first-page":"1347","DOI":"10.1109\/COMST.2016.2637663","volume":"19","author":"P Davidson","year":"2017","unstructured":"Davidson P, Pich\u00e9 R (2017) A survey of selected indoor positioning methods for smartphones. IEEE Commun Surv Tutor 19(2):1347\u20131370. https:\/\/doi.org\/10.1109\/COMST.2016.2637663","journal-title":"IEEE Commun Surv Tutor"},{"issue":"2","key":"222_CR28","doi-asserted-by":"publisher","first-page":"20","DOI":"10.1145\/2835376","volume":"48","author":"NU Hassan","year":"2015","unstructured":"Hassan NU, Naeem A, Pasha MA, Jadoon T, Yuen C (2015) Indoor positioning using visible led lights: a survey. ACM Comput Surv 48(2):20\u201312032. https:\/\/doi.org\/10.1145\/2835376","journal-title":"ACM Comput Surv"},{"issue":"3","key":"222_CR29","doi-asserted-by":"publisher","first-page":"702","DOI":"10.1109\/TMC.2018.2842751","volume":"18","author":"B Li","year":"2019","unstructured":"Li B, Mu\u00f1oz JP, Rong X, Chen Q, Xiao J, Tian Y, Arditi A, Yousuf M (2019) Vision-based mobile indoor assistive navigation aid for blind people. IEEE Trans Mob Comput 18(3):702\u2013714. https:\/\/doi.org\/10.1109\/TMC.2018.2842751","journal-title":"IEEE Trans Mob Comput"},{"key":"222_CR30","doi-asserted-by":"publisher","unstructured":"Cabaret L, Lacassagne L (2014) What is the world\u2019s fastest connected component labeling algorithm? In: 2014 IEEE workshop on signal processing systems (SiPS), pp 1\u20136. https:\/\/doi.org\/10.1109\/SiPS.2014.6986069","DOI":"10.1109\/SiPS.2014.6986069"},{"key":"222_CR31","doi-asserted-by":"crossref","unstructured":"Rong X, Li B, Munoz JP, Xiao J, Arditi A, Tian Y (2016) Guided text spotting for assistive blind navigation in unfamiliar indoor environments. In: International symposium on visual computing, Springer, pp 11\u201322","DOI":"10.1007\/978-3-319-50832-0_2"},{"issue":"3","key":"222_CR32","doi-asserted-by":"publisher","first-page":"521","DOI":"10.1007\/s00138-012-0431-7","volume":"24","author":"Y Tian","year":"2013","unstructured":"Tian Y, Yang X, Yi C, Arditi A (2013) Toward a computer vision-based wayfinding aid for blind persons to access unfamiliar indoor environments. Mach Vis Appl 24(3):521\u2013535. https:\/\/doi.org\/10.1007\/s00138-012-0431-7","journal-title":"Mach Vis Appl"},{"key":"222_CR33","doi-asserted-by":"publisher","unstructured":"Lee YH, Medioni G (2016) RGB-D camera based wearable navigation system for the visually impaired. Comput Vis Image Underst 149, 3\u201320, Special issue on Assistive Computer Vision and Robotics\u2013Assistive Solutions for Mobility. Communication and HMI. https:\/\/doi.org\/10.1016\/j.cviu.2016.03.019","DOI":"10.1016\/j.cviu.2016.03.019"},{"key":"222_CR34","doi-asserted-by":"crossref","unstructured":"Huang AS, Bachrach A, Henry P, Krainin M, Maturana D, Fox D, Roy N (2017) Visual odometry and mapping for autonomous flight using an RGB-D camera. In: Robotics research, Springer, pp 235\u2013252","DOI":"10.1007\/978-3-319-29363-9_14"},{"key":"222_CR35","doi-asserted-by":"publisher","unstructured":"Labb\u00e9 M, Michaud F (2014) Online global loop closure detection for large-scale multi-session graph-based slam. In: 2014 IEEE\/RSJ international conference on intelligent robots and systems, pp 2661\u20132666 . https:\/\/doi.org\/10.1109\/IROS.2014.6942926","DOI":"10.1109\/IROS.2014.6942926"},{"key":"222_CR36","unstructured":"McDonald J, Kaess M, Cadena C, Neira J, Leonard JJ (2011) 6-dof multi-session visual slam using anchor nodes. In: European conference on mobile robots (ECMR), pp 69\u201376. http:\/\/mural.maynoothuniversity.ie\/6497\/"},{"key":"222_CR37","doi-asserted-by":"publisher","unstructured":"Garcia G, Nahapetian A (2015) Wearable computing for image-based indoor navigation of the visually impaired. In: Proceedings of the conference on wireless health. WH \u201915, ACM, New York, NY, USA, pp 17\u20131176. https:\/\/doi.org\/10.1145\/2811780.2811959","DOI":"10.1145\/2811780.2811959"},{"key":"222_CR38","doi-asserted-by":"publisher","unstructured":"Manlises C, Yumang A, Marcelo M, Adriano A, Reyes J (2016) Indoor navigation system based on computer vision using camshift and d* algorithm for visually impaired. In: 2016 6th IEEE international conference on control system, computing and engineering (ICCSCE), pp 481\u2013484. https:\/\/doi.org\/10.1109\/ICCSCE.2016.7893623","DOI":"10.1109\/ICCSCE.2016.7893623"},{"key":"222_CR39","doi-asserted-by":"publisher","unstructured":"Bai J, Liu D, Su G, Fu Z (2017) A cloud and vision-based navigation system used for blind people. In: Proceedings of the 2017 international conference on artificial intelligence, automation and control technologies. AIACT \u201917, ACM, New York, NY, USA, pp 22\u20131226. https:\/\/doi.org\/10.1145\/3080845.3080867","DOI":"10.1145\/3080845.3080867"},{"issue":"11","key":"222_CR40","doi-asserted-by":"publisher","first-page":"2146","DOI":"10.1109\/TASLP.2016.2598304","volume":"24","author":"X Chen","year":"2016","unstructured":"Chen X, Liu X, Wang Y, Gales MJF, Woodland PC (2016) Efficient training and evaluation of recurrent neural network language models for automatic speech recognition. IEEE\/ACM Trans Audio Speech Lang Process 24(11):2146\u20132157. https:\/\/doi.org\/10.1109\/TASLP.2016.2598304","journal-title":"IEEE\/ACM Trans Audio Speech Lang Process"},{"key":"222_CR41","doi-asserted-by":"crossref","unstructured":"Cho K, Van Merri\u00ebnboer B, Gulcehre C, Bahdanau D, Bougares F, Schwenk H, Bengio Y (2014) Learning phrase representations using RNN encoder\u2013decoder for statistical machine translation. arXiv preprint arXiv:1406.1078","DOI":"10.3115\/v1\/D14-1179"},{"key":"222_CR42","doi-asserted-by":"crossref","unstructured":"Liang M, Hu X (2015) Recurrent convolutional neural network for object recognition. In: The IEEE conference on computer vision and pattern recognition (CVPR)","DOI":"10.1109\/CVPR.2015.7299170"},{"issue":"8","key":"222_CR43","doi-asserted-by":"publisher","first-page":"1915","DOI":"10.1109\/TPAMI.2012.231","volume":"35","author":"C Farabet","year":"2013","unstructured":"Farabet C, Couprie C, Najman L, LeCun Y (2013) Learning hierarchical features for scene labeling. IEEE Trans Pattern Anal Mach Intell 35(8):1915\u20131929. https:\/\/doi.org\/10.1109\/TPAMI.2012.231","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"key":"222_CR44","doi-asserted-by":"crossref","unstructured":"Noh H, Hong S, Han B (2015) Learning deconvolution network for semantic segmentation. In: The IEEE international conference on computer vision (ICCV)","DOI":"10.1109\/ICCV.2015.178"},{"key":"222_CR45","doi-asserted-by":"publisher","unstructured":"Akbani O, Gokrani A, Quresh M, Khan FM, Behlim SI, Syed TQ (2015) Character recognition in natural scene images. In: 2015 international conference on information and communication technologies (ICICT), pp 1\u20136. https:\/\/doi.org\/10.1109\/ICICT.2015.7469575","DOI":"10.1109\/ICICT.2015.7469575"},{"issue":"9","key":"222_CR46","doi-asserted-by":"publisher","first-page":"1872","DOI":"10.1109\/TPAMI.2015.2496234","volume":"38","author":"L Neumann","year":"2016","unstructured":"Neumann L, Matas J (2016) Real-time lexicon-free scene text localization and recognition. IEEE Transa Pattern Anal Mach Intell 38(9):1872\u20131885. https:\/\/doi.org\/10.1109\/TPAMI.2015.2496234","journal-title":"IEEE Transa Pattern Anal Mach Intell"},{"key":"222_CR47","doi-asserted-by":"publisher","unstructured":"Shao K-Y, Gao Y, Wang N, Zhang H-Y, Li F, Li W-C (2010) Paper money number recognition based on intersection change. In: Third international workshop on advanced computational intelligence, pp 533\u2013536. https:\/\/doi.org\/10.1109\/IWACI.2010.5585167","DOI":"10.1109\/IWACI.2010.5585167"},{"key":"222_CR48","doi-asserted-by":"publisher","unstructured":"Weber M, Wolf P, Z\u00f6llner JM (2016) Deeptlr: a single deep convolutional network for detection and classification of traffic lights. In: 2016 IEEE intelligent vehicles symposium (IV), pp 342\u2013348. https:\/\/doi.org\/10.1109\/IVS.2016.7535408","DOI":"10.1109\/IVS.2016.7535408"},{"key":"222_CR49","doi-asserted-by":"publisher","first-page":"466","DOI":"10.1016\/j.procs.2017.09.086","volume":"115","author":"SV Athira","year":"2017","unstructured":"Athira SV, George M, Jose BR, Mathew J (2017) A global image descriptor based navigation system for indoor environment. Procedia Comput Sci 115:466\u2013473. https:\/\/doi.org\/10.1016\/j.procs.2017.09.086","journal-title":"Procedia Comput Sci"},{"key":"222_CR50","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1016\/j.ijhcs.2017.02.001","volume":"103","author":"J Pearson","year":"2017","unstructured":"Pearson J, Robinson S, Jones M (2017) Bookmark: appropriating existing infrastructure to facilitate scalable indoor navigation. Int J Hum Comput Stud 103:22\u201334. https:\/\/doi.org\/10.1016\/j.ijhcs.2017.02.001","journal-title":"Int J Hum Comput Stud"},{"issue":"4","key":"222_CR51","doi-asserted-by":"publisher","first-page":"841","DOI":"10.1109\/TCYB.2016.2530407","volume":"47","author":"L Li","year":"2017","unstructured":"Li L, Xu Q, Chandrasekhar V, Lim J, Tan C, Mukawa MA (2017) A wearable virtual usher for vision-based cognitive indoor navigation. IEEE Trans Cybern 47(4):841\u2013854. https:\/\/doi.org\/10.1109\/TCYB.2016.2530407","journal-title":"IEEE Trans Cybern"},{"issue":"6","key":"222_CR52","doi-asserted-by":"publisher","first-page":"1461","DOI":"10.1109\/TMC.2018.2857772","volume":"18","author":"J Dong","year":"2018","unstructured":"Dong J, Noreikis M, Xiao Y, Yl\u00e4-J\u00e4\u00e4ski A (2018) Vinav: a vision-based indoor navigation system for smartphones. IEEE Trans Mob Comput 18(6):1461\u20131475","journal-title":"IEEE Trans Mob Comput"},{"key":"222_CR53","doi-asserted-by":"crossref","unstructured":"Rahman Su, Ullah S, Ullah S (2019) A mobile camera based navigation system for visually impaired people. In: Proceedings of the 7th international conference on communications and broadband networking, pp 63\u201366","DOI":"10.1145\/3330180.3330193"},{"issue":"1","key":"222_CR54","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1186\/s12942-019-0193-9","volume":"18","author":"J Kunhoth","year":"2019","unstructured":"Kunhoth J, Karkar A, Al-Maadeed S, Al-Attiyah A (2019) Comparative analysis of computer-vision and ble technology based indoor navigation systems for people with visual impairments. Int J Health Geogr 18(1):29","journal-title":"Int J Health Geogr"},{"issue":"1","key":"222_CR55","doi-asserted-by":"publisher","first-page":"221","DOI":"10.1134\/S1054661816010260","volume":"26","author":"A Tyukin","year":"2016","unstructured":"Tyukin A, Priorov A, Lebedev I (2016) Research and development of an indoor navigation system based on the digital processing of video images. Pattern Recogn Image Anal 26(1):221\u2013230. https:\/\/doi.org\/10.1134\/S1054661816010260","journal-title":"Pattern Recogn Image Anal"},{"issue":"1","key":"222_CR56","doi-asserted-by":"publisher","first-page":"423","DOI":"10.1109\/LRA.2016.2521907","volume":"1","author":"SR Bista","year":"2016","unstructured":"Bista SR, Giordano PR, Chaumette F (2016) Appearance-based indoor navigation by IBVS using line segments. IEEE Robot Autom Lett 1(1):423\u2013430. https:\/\/doi.org\/10.1109\/LRA.2016.2521907","journal-title":"IEEE Robot Autom Lett"},{"issue":"13","key":"222_CR57","doi-asserted-by":"publisher","first-page":"1633","DOI":"10.1016\/j.patrec.2011.06.001","volume":"32","author":"C Akinlar","year":"2011","unstructured":"Akinlar C, Topal C (2011) Edlines: a real-time line segment detector with a false detection control. Pattern Recogn Lett 32(13):1633\u20131642. https:\/\/doi.org\/10.1016\/j.patrec.2011.06.001","journal-title":"Pattern Recogn Lett"},{"issue":"7","key":"222_CR58","doi-asserted-by":"publisher","first-page":"794","DOI":"10.1016\/j.jvcir.2013.05.006","volume":"24","author":"L Zhang","year":"2013","unstructured":"Zhang L, Koch R (2013) An efficient and robust line segment matching approach based on LBD descriptor and pairwise geometric consistency. J Vis Commun Image Represent 24(7):794\u2013805. https:\/\/doi.org\/10.1016\/j.jvcir.2013.05.006","journal-title":"J Vis Commun Image Represent"},{"key":"222_CR59","doi-asserted-by":"crossref","unstructured":"Tian Y, Yang X, Arditi A (2010) Computer vision-based door detection for accessibility of unfamiliar environments to blind persons. In: International conference on computers for handicapped persons, Springer, pp 263\u2013270","DOI":"10.1007\/978-3-642-14100-3_39"},{"key":"222_CR60","doi-asserted-by":"publisher","unstructured":"Costa P, Fernandes H, Martins P, Barroso J, Hadjileontiadis LJ (2012) Obstacle detection using stereo imaging to assist the navigation of visually impaired people. Procedia Comput Sci 14, 83\u201393. In: Proceedings of the 4th international conference on software development for enhancing accessibility and fighting info-exclusion (DSAI 2012). https:\/\/doi.org\/10.1016\/j.procs.2012.10.010","DOI":"10.1016\/j.procs.2012.10.010"},{"key":"222_CR61","doi-asserted-by":"publisher","unstructured":"Murillo AC, Guti\u00e9rrez-G\u00f3mez D, Rituerto A, Puig L, Guerrero JJ (2012) Wearable omnidirectional vision system for personal localization and guidance. In: 2012 IEEE computer society conference on computer vision and pattern recognition workshops, pp 8\u201314. https:\/\/doi.org\/10.1109\/CVPRW.2012.6239189","DOI":"10.1109\/CVPRW.2012.6239189"},{"issue":"4","key":"222_CR62","doi-asserted-by":"publisher","first-page":"141","DOI":"10.1145\/3161409","volume":"1","author":"Z Huang","year":"2018","unstructured":"Huang Z, Gu N, Hao J, Shen J (2018) 3DLoC: 3D features for accurate indoor positioning. Proc ACM Interact Mob Wearable Ubiquitous Technol 1(4):141\u2013114126. https:\/\/doi.org\/10.1145\/3161409","journal-title":"Proc ACM Interact Mob Wearable Ubiquitous Technol"},{"key":"222_CR63","doi-asserted-by":"publisher","unstructured":"Lee DC, Hebert M, Kanade T (2009) Geometric reasoning for single image structure recovery. In: 2009 IEEE conference on computer vision and pattern recognition, pp 2136\u20132143. https:\/\/doi.org\/10.1109\/CVPR.2009.5206872","DOI":"10.1109\/CVPR.2009.5206872"},{"issue":"3","key":"222_CR64","doi-asserted-by":"publisher","first-page":"1597","DOI":"10.1007\/s11042-013-1656-9","volume":"73","author":"E Wang","year":"2014","unstructured":"Wang E, Yan W (2014) iNavigation: an image based indoor navigation system. Multimed Tools Appl 73(3):1597\u20131615. https:\/\/doi.org\/10.1007\/s11042-013-1656-9","journal-title":"Multimed Tools Appl"},{"key":"222_CR65","doi-asserted-by":"publisher","unstructured":"Kawaji H, Hatada K, Yamasaki T, Aizawa K (2010) Image-based indoor positioning system: fast image matching using omnidirectional panoramic images. In: Proceedings of the 1st ACM international workshop on multimodal pervasive video analysis. MPVA \u201910, ACM, New York, NY, USA, pp 1\u20134. https:\/\/doi.org\/10.1145\/1878039.1878041","DOI":"10.1145\/1878039.1878041"},{"issue":"4","key":"222_CR66","first-page":"506","volume":"2","author":"Y Ke","year":"2004","unstructured":"Ke Y, Sukthankar R et al (2004) PCA-sift: a more distinctive representation for local image descriptors. CVPR 2(4):506\u2013513","journal-title":"CVPR"},{"key":"222_CR67","doi-asserted-by":"publisher","unstructured":"Deniz O, Paton J, Salido J, Bueno G, Ramanan J (2014) A vision-based localization algorithm for an indoor navigation app. In: 2014 eighth international conference on next generation mobile apps, services and technologies, pp 7\u201312. https:\/\/doi.org\/10.1109\/NGMAST.2014.18","DOI":"10.1109\/NGMAST.2014.18"},{"key":"222_CR68","doi-asserted-by":"publisher","DOI":"10.3390\/s18072229","author":"A Xiao","year":"2018","unstructured":"Xiao A, Chen R, Li D, Chen Y, Wu D (2018) An indoor positioning system based on static objects in large indoor scenes by using smartphone cameras. Sensors. https:\/\/doi.org\/10.3390\/s18072229","journal-title":"Sensors"},{"key":"222_CR69","unstructured":"Ren S, He K, Girshick R, Sun J (2015) Faster R-CNN: Towards real-time object detection with region proposal networks. In: Cortes, C, Lawrence ND, Lee DD, Sugiyama M, Garnett R (eds) Advances in neural information processing systems, Curran Associates, Inc. 28, pp 91\u201399. http:\/\/papers.nips.cc\/paper\/5638-faster-r-cnn-towards-real-time-object-detection-with-region-proposal-networks.pdf. Accessed 8 Nov 2019"},{"key":"222_CR70","unstructured":"Simonyan K, Zisserman A (2014) Very deep convolutional networks for large-scale image recognition. arXiv preprint arXiv:1409.1556"},{"key":"222_CR71","doi-asserted-by":"publisher","DOI":"10.3390\/s18082692","author":"Y Chen","year":"2018","unstructured":"Chen Y, Chen R, Liu M, Xiao A, Wu D, Zhao S (2018) Indoor visual positioning aided by cnn-based image retrieval: training-free, 3D modeling-free. Sensors. https:\/\/doi.org\/10.3390\/s18082692","journal-title":"Sensors"},{"key":"222_CR72","doi-asserted-by":"crossref","unstructured":"Rublee E, Rabaud V, Konolige K, Bradski GR (2011) Orb: an efficient alternative to sift or surf. In: ICCV, Citeseer, vol 11, p 2","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"222_CR73","doi-asserted-by":"publisher","unstructured":"Handa A, Whelan T, McDonald J, Davison AJ (2014) A benchmark for RGB-D visual odometry, 3d reconstruction and slam. In: 2014 IEEE international conference on robotics and automation (ICRA), pp 1524\u20131531. https:\/\/doi.org\/10.1109\/ICRA.2014.6907054","DOI":"10.1109\/ICRA.2014.6907054"},{"key":"222_CR74","unstructured":"Sturm J, Magnenat S, Engelhard N, Pomerleau F, Colas F, Cremers D, Siegwart R, Burgard W (2011) Towards a benchmark for RGB-D SLAM evaluation. In: RGB-D workshop on advanced reasoning with depth cameras at robotics: science and systems conf. (RSS), Los Angeles, United States. https:\/\/hal.archives-ouvertes.fr\/hal-01142608"},{"key":"222_CR75","doi-asserted-by":"crossref","unstructured":"Kendall A, Grimes M, Cipolla R (2015) Posenet: a convolutional network for real-time 6-DOF camera relocalization. In: The IEEE international conference on computer vision (ICCV), pp 2938\u20132946","DOI":"10.1109\/ICCV.2015.336"},{"key":"222_CR76","doi-asserted-by":"publisher","unstructured":"Guo F, He Y, Guan L (2017) RGB-D camera pose estimation using deep neural network. In: 2017 IEEE global conference on signal and information processing (GlobalSIP), pp 408\u2013412. https:\/\/doi.org\/10.1109\/GlobalSIP.2017.8308674","DOI":"10.1109\/GlobalSIP.2017.8308674"},{"key":"222_CR77","doi-asserted-by":"crossref","unstructured":"Szegedy C, Liu W, Jia Y, Sermanet P, Reed S, Anguelov D, Erhan D, Vanhoucke V, Rabinovich A (2015) Going deeper with convolutions. In: Proceedings of the IEEE conference on computer vision and pattern recognition, pp 1\u20139","DOI":"10.1109\/CVPR.2015.7298594"},{"key":"222_CR78","doi-asserted-by":"publisher","unstructured":"Adorno J, DeLaHoz Y, Labrador MA (2016) Smartphone-based floor detection in unstructured and structured environments. In: 2016 IEEE international conference on pervasive computing and communication workshops (PerCom workshops), pp 1\u20136. https:\/\/doi.org\/10.1109\/PERCOMW.2016.7457136","DOI":"10.1109\/PERCOMW.2016.7457136"},{"key":"222_CR79","doi-asserted-by":"crossref","unstructured":"Bashiri FS, LaRose E, Badger JC, D\u2019Souza RM, Yu Z, Peissig P (2018) Object detection to assist visually impaired people: a deep neural network adventure. In: International symposium on visual computing, Springer, pp 500\u2013510","DOI":"10.1007\/978-3-030-03801-4_44"},{"key":"222_CR80","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1016\/j.dib.2017.12.047","volume":"17","author":"FS Bashiri","year":"2018","unstructured":"Bashiri FS, LaRose E, Peissig P, Tafti AP (2018) Mcindoor20000: a fully-labeled image dataset to advance indoor objects detection. Data Brief 17:71\u201375","journal-title":"Data Brief"},{"key":"222_CR81","doi-asserted-by":"crossref","unstructured":"Jayakanth K (2019) Comparative analysis of texture features and deep learning method for real-time indoor object recognition. In: 2019 international conference on communication and electronics systems (ICCES), IEEE, pp 1676\u20131682","DOI":"10.1109\/ICCES45898.2019.9002551"},{"key":"222_CR82","doi-asserted-by":"publisher","DOI":"10.1007\/s11063-020-10197-9","author":"M Afif","year":"2020","unstructured":"Afif M, Ayachi R, Said Y, Pissaloux E, Atri M (2020) An evaluation of retinanet on indoor object detection for blind and visually impaired persons assistance navigation. Neural Process Lett. https:\/\/doi.org\/10.1007\/s11063-020-10197-9","journal-title":"Neural Process Lett"},{"key":"222_CR83","doi-asserted-by":"publisher","unstructured":"Tak\u00e1cs M, Bencze T, Szab\u00f3-Resch MZ, V\u00e1mossy Z (2015) Object recognition to support indoor robot navigation. In: 2015 16th IEEE international symposium on computational intelligence and informatics (CINTI), pp 239\u2013242. https:\/\/doi.org\/10.1109\/CINTI.2015.7382930","DOI":"10.1109\/CINTI.2015.7382930"},{"issue":"9","key":"222_CR84","doi-asserted-by":"publisher","first-page":"4397","DOI":"10.1109\/TSP.2011.2159215","volume":"59","author":"Y Wang","year":"2011","unstructured":"Wang Y, Ma X, Leus G (2011) Robust time-based localization for asynchronous networks. IEEE Trans Signal Process 59(9):4397\u20134410. https:\/\/doi.org\/10.1109\/TSP.2011.2159215","journal-title":"IEEE Trans Signal Process"},{"key":"222_CR85","doi-asserted-by":"publisher","unstructured":"Zhang D, Xia F, Yang Z, Yao L, Zhao W (2010) Localization technologies for indoor human tracking. In: 2010 5th international conference on future information technology, pp 1\u20136. https:\/\/doi.org\/10.1109\/FUTURETECH.2010.5482731","DOI":"10.1109\/FUTURETECH.2010.5482731"},{"issue":"08","key":"222_CR86","doi-asserted-by":"publisher","first-page":"57","DOI":"10.1109\/MC.2004.103","volume":"34","author":"AB Maccabe","year":"2004","unstructured":"Maccabe AB, Mielke AM, Brennan SM, Torney DC (2004) Radiation detection with distributed sensor networks. Computer 34(08):57\u201359. https:\/\/doi.org\/10.1109\/MC.2004.103","journal-title":"Computer"},{"key":"222_CR87","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10699-1","volume-title":"Indoor location-based services: prerequisites and foundations","author":"M Werner","year":"2014","unstructured":"Werner M (2014) Indoor location-based services: prerequisites and foundations. Springer, Berlin"},{"key":"222_CR88","doi-asserted-by":"publisher","unstructured":"Guo Y, Wang W, Chen X (2017) FreeNavi: Landmark-based mapless indoor navigation based on wifi fingerprints. In: 2017 IEEE 85th vehicular technology conference (VTC Spring), pp 1\u20135. https:\/\/doi.org\/10.1109\/VTCSpring.2017.8108350","DOI":"10.1109\/VTCSpring.2017.8108350"},{"key":"222_CR89","doi-asserted-by":"publisher","unstructured":"Chen X, Kong J, Guo Y, Chen X (2014) An empirical study of indoor localization algorithms with densely deployed aps. In: 2014 IEEE global communications conference, pp 517\u2013522. https:\/\/doi.org\/10.1109\/GLOCOM.2014.7036860","DOI":"10.1109\/GLOCOM.2014.7036860"},{"key":"222_CR90","doi-asserted-by":"crossref","unstructured":"Han B, Zhao L (2017) An indoor positioning and navigation technique based on wi-fi fingerprint and environment information. In: China satellite navigation conference, Springer, pp 381\u2013393","DOI":"10.1007\/978-981-10-4588-2_33"},{"issue":"2","key":"222_CR91","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1145\/3090094","volume":"1","author":"C Wu","year":"2017","unstructured":"Wu C, Xu J, Yang Z, Lane ND, Yin Z (2017) Gain without pain: accurate wifi-based localization using fingerprint spatial gradient. Proc ACM Interact Mob Wearable Ubiquitous Technol 1(2):29\u201312919. https:\/\/doi.org\/10.1145\/3090094","journal-title":"Proc ACM Interact Mob Wearable Ubiquitous Technol"},{"issue":"6","key":"222_CR92","doi-asserted-by":"publisher","first-page":"1067","DOI":"10.1109\/TSMCC.2007.905750","volume":"37","author":"H Liu","year":"2007","unstructured":"Liu H, Darabi H, Banerjee P, Liu J (2007) Survey of wireless indoor positioning techniques and systems. IEEE Trans Syst Man Cybern Part C 37(6):1067\u20131080","journal-title":"IEEE Trans Syst Man Cybern Part C"},{"key":"222_CR93","doi-asserted-by":"crossref","unstructured":"Dayekh S, Affes S, Kandil N, Nerguizian C (2010) Cooperative localization in mines using fingerprinting and neural networks. In: 2010 IEEE wireless communication and networking conference, IEEE, pp 1\u20136","DOI":"10.1109\/WCNC.2010.5506666"},{"key":"222_CR94","doi-asserted-by":"publisher","first-page":"279","DOI":"10.1016\/j.neucom.2016.02.055","volume":"194","author":"W Zhang","year":"2016","unstructured":"Zhang W, Liu K, Zhang W, Zhang Y, Gu J (2016) Deep neural networks for wireless localization in indoor and outdoor environments. Neurocomputing 194:279\u2013287","journal-title":"Neurocomputing"},{"key":"222_CR95","doi-asserted-by":"crossref","unstructured":"F\u00e9lix G, Siller M, Alvarez EN (2016) A fingerprinting indoor localization algorithm based deep learning. In: 2016 eighth international conference on ubiquitous and future networks (ICUFN), IEEE, pp 1006\u20131011","DOI":"10.1109\/ICUFN.2016.7536949"},{"key":"222_CR96","doi-asserted-by":"crossref","unstructured":"Jang J-W, Hong S-N (2018) Indoor localization with wifi fingerprinting using convolutional neural network. In: 2018 tenth international conference on ubiquitous and future networks (ICUFN), IEEE, pp 753\u2013758","DOI":"10.1109\/ICUFN.2018.8436598"},{"key":"222_CR97","doi-asserted-by":"crossref","unstructured":"Mittal A, Tiku S, Pasricha S (2018) Adapting convolutional neural networks for indoor localization with smart mobile devices. In: Proceedings of the 2018 on great lakes symposium on VLSI, pp 117\u2013122","DOI":"10.1145\/3194554.3194594"},{"key":"222_CR98","doi-asserted-by":"crossref","unstructured":"Ibrahim M, Torki M, ElNainay M (2018) CNN based indoor localization using RSS time-series. In: 2018 IEEE symposium on computers and communications (ISCC), IEEE, pp 01044\u201301049","DOI":"10.1109\/ISCC.2018.8538530"},{"issue":"3","key":"222_CR99","doi-asserted-by":"publisher","first-page":"4844","DOI":"10.1109\/JIOT.2018.2872133","volume":"6","author":"W Li","year":"2019","unstructured":"Li W, Chen Z, Gao X, Liu W, Wang J (2019) Multimodel framework for indoor localization under mobile edge computing environment. IEEE Internet Things J 6(3):4844\u20134853","journal-title":"IEEE Internet Things J"},{"issue":"5","key":"222_CR100","doi-asserted-by":"publisher","first-page":"809","DOI":"10.1007\/s00779-016-0951-7","volume":"20","author":"Y Wei","year":"2016","unstructured":"Wei Y, Li W, Chen T (2016) Node localization algorithm for wireless sensor networks using compressive sensing theory. Pers Ubiquitous Comput 20(5):809\u2013819","journal-title":"Pers Ubiquitous Comput"},{"issue":"6","key":"222_CR101","doi-asserted-by":"publisher","first-page":"739","DOI":"10.4218\/etrij.2017-0116","volume":"41","author":"C Liu","year":"2019","unstructured":"Liu C, Yao X, Luo J (2019) Multiregional secure localization using compressive sensing in wireless sensor networks. ETRI J 41(6):739\u2013749","journal-title":"ETRI J"},{"key":"222_CR102","doi-asserted-by":"publisher","first-page":"107030","DOI":"10.1016\/j.comnet.2019.107030","volume":"168","author":"P Zhang","year":"2020","unstructured":"Zhang P, Wang J, Li W (2020) A learning based joint compressive sensing for wireless sensing networks. Comput Netw 168:107030","journal-title":"Comput Netw"},{"issue":"1","key":"222_CR103","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1109\/LCOMM.2015.2496940","volume":"20","author":"Y Li","year":"2016","unstructured":"Li Y, Zhuang Y, Lan H, Zhou Q, Niu X, El-Sheimy N (2016) A hybrid wifi\/magnetic matching\/pdr approach for indoor navigation with smartphone sensors. IEEE Commun Lett 20(1):169\u2013172. https:\/\/doi.org\/10.1109\/LCOMM.2015.2496940","journal-title":"IEEE Commun Lett"},{"issue":"2","key":"222_CR104","doi-asserted-by":"publisher","first-page":"210","DOI":"10.1109\/TMECH.2010.2095504","volume":"17","author":"H Ren","year":"2012","unstructured":"Ren H, Kazanzides P (2012) Investigation of attitude tracking using an integrated inertial and magnetic navigation system for hand-held surgical instruments. IEEE\/ASME Trans Mechatron 17(2):210\u2013217. https:\/\/doi.org\/10.1109\/TMECH.2010.2095504","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"8","key":"222_CR105","doi-asserted-by":"publisher","first-page":"1349","DOI":"10.1109\/JSEN.2010.2044238","volume":"10","author":"C Huang","year":"2010","unstructured":"Huang C, Liao Z, Zhao L (2010) Synergism of INS and PDR in self-contained pedestrian tracking with a miniature sensor module. IEEE Sens J 10(8):1349\u20131359. https:\/\/doi.org\/10.1109\/JSEN.2010.2044238","journal-title":"IEEE Sens J"},{"key":"222_CR106","doi-asserted-by":"publisher","first-page":"14589","DOI":"10.1109\/ACCESS.2017.2726088","volume":"5","author":"X Wu","year":"2017","unstructured":"Wu X, Shen R, Fu L, Tian X, Liu P, Wang X (2017) iBill: using ibeacon and inertial sensors for accurate indoor localization in large open areas. IEEE Access 5:14589\u201314599. https:\/\/doi.org\/10.1109\/ACCESS.2017.2726088","journal-title":"IEEE Access"},{"key":"222_CR107","unstructured":"Betters E (2013) Apple\u2019s ibeacons explained: What it is and why it matters. online publication dated Sep 18, 1\u201314"},{"issue":"7","key":"222_CR108","doi-asserted-by":"publisher","first-page":"1443","DOI":"10.1109\/JSAC.2015.2430274","volume":"33","author":"Y Shu","year":"2015","unstructured":"Shu Y, Bo C, Shen G, Zhao C, Li L, Zhao F (2015) Magicol: indoor localization using pervasive magnetic field and opportunistic wifi sensing. IEEE J Sel Areas Commun 33(7):1443\u20131457. https:\/\/doi.org\/10.1109\/JSAC.2015.2430274","journal-title":"IEEE J Sel Areas Commun"},{"issue":"10","key":"222_CR109","doi-asserted-by":"publisher","first-page":"12635","DOI":"10.1007\/s11042-017-4908-2","volume":"77","author":"K Lee","year":"2018","unstructured":"Lee K, Nam Y, Min SD (2018) An indoor localization solution using bluetooth rssi and multiple sensors on a smartphone. Multimed Tools Appl 77(10):12635\u201312654. https:\/\/doi.org\/10.1007\/s11042-017-4908-2","journal-title":"Multimed Tools Appl"},{"key":"222_CR110","doi-asserted-by":"publisher","unstructured":"Satan A (2018) Bluetooth-based indoor navigation mobile system. In: 2018 19th international carpathian control conference (ICCC), pp 332\u2013337. https:\/\/doi.org\/10.1109\/CarpathianCC.2018.8399651","DOI":"10.1109\/CarpathianCC.2018.8399651"},{"key":"222_CR111","doi-asserted-by":"publisher","unstructured":"Satan A, Toth Z (2018) Development of bluetooth based indoor positioning application. In: 2018 IEEE international conference on future IoT technologies (Future IoT), pp 1\u20136. https:\/\/doi.org\/10.1109\/FIOT.2018.8325586","DOI":"10.1109\/FIOT.2018.8325586"},{"key":"222_CR112","unstructured":"Davis J (2015) Indoor wireless RF channels. http:\/\/wireless.per.nl\/reference\/chaptr03\/indoor.html. Accessed 10 May 2019"},{"issue":"1","key":"222_CR113","doi-asserted-by":"publisher","first-page":"336","DOI":"10.1109\/JIOT.2017.2784386","volume":"5","author":"N Yu","year":"2018","unstructured":"Yu N, Zhan X, Zhao S, Wu Y, Feng R (2018) A precise dead reckoning algorithm based on bluetooth and multiple sensors. IEEE Internet Things J 5(1):336\u2013351. https:\/\/doi.org\/10.1109\/JIOT.2017.2784386","journal-title":"IEEE Internet Things J"},{"key":"222_CR114","doi-asserted-by":"publisher","unstructured":"Campana F, Pinargote A, Dom\u00ednguez F, Pel\u00e1ez E (2017) Towards an indoor navigation system using bluetooth low energy beacons. In: 2017 IEEE second ecuador technical chapters meeting (ETCM), pp 1\u20136. https:\/\/doi.org\/10.1109\/ETCM.2017.8247464","DOI":"10.1109\/ETCM.2017.8247464"},{"issue":"9","key":"222_CR115","doi-asserted-by":"publisher","first-page":"2114","DOI":"10.3390\/s19092114","volume":"19","author":"B AL-Madani","year":"2019","unstructured":"AL-Madani B, Orujov F, R Maskeli\u016bnas, Dama\u0161evi\u010dius R, Ven\u010dkauskas A (2019) Fuzzy logic type-2 based wireless indoor localization system for navigation of visually impaired people in buildings. Sensors 19(9):2114","journal-title":"Sensors"},{"key":"222_CR116","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1016\/j.pmcj.2019.04.003","volume":"57","author":"M Murata","year":"2019","unstructured":"Murata M, Ahmetovic D, Sato D, Takagi H, Kitani KM, Asakawa C (2019) Smartphone-based localization for blind navigation in building-scale indoor environments. Pervasive Mob Comput 57:14\u201332","journal-title":"Pervasive Mob Comput"},{"key":"222_CR117","doi-asserted-by":"crossref","unstructured":"Ahmetovic D, Gleason C, Ruan C, Kitani K, Takagi H, Asakawa C (2016) Navcog: a navigational cognitive assistant for the blind. In: Proceedings of the 18th international conference on human-computer interaction with mobile devices and services, ACM, pp 90\u201399","DOI":"10.1145\/2935334.2935361"},{"key":"222_CR118","doi-asserted-by":"crossref","unstructured":"Kim J-E, Bessho M, Kobayashi S, Koshizuka N, Sakamura K (2016) Navigating visually impaired travelers in a large train station using smartphone and bluetooth low energy. In: Proceedings of the 31st annual ACM symposium on applied computing, ACM, pp 604\u2013611","DOI":"10.1145\/2851613.2851716"},{"key":"222_CR119","doi-asserted-by":"crossref","unstructured":"Cheraghi SA, Namboodiri V, Walker L (2017) Guidebeacon: beacon-based indoor wayfinding for the blind, visually impaired, and disoriented. In: 2017 IEEE international conference on pervasive computing and communications (PerCom), IEEE, pp 121\u2013130","DOI":"10.1109\/PERCOM.2017.7917858"},{"key":"222_CR120","doi-asserted-by":"crossref","unstructured":"Bilgi S, Ozturk O, Gulnerman AG (2017) Navigation system for blind, hearing and visually impaired people in ITU ayazaga campus. In: 2017 international conference on computing networking and informatics (ICCNI), pp 1\u20135","DOI":"10.1109\/ICCNI.2017.8123814"},{"issue":"2","key":"222_CR121","doi-asserted-by":"publisher","first-page":"181","DOI":"10.1093\/iwc\/iww016","volume":"29","author":"I Abu Doush","year":"2016","unstructured":"Abu Doush I, Alshatnawi S, Al-Tamimi A-K, Alhasan B, Hamasha S (2016) ISAB: integrated indoor navigation system for the blind. Interact Comput 29(2):181\u2013202. https:\/\/doi.org\/10.1093\/iwc\/iww016","journal-title":"Interact Comput"},{"key":"222_CR122","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1155\/2012\/894869","volume":"2012","author":"A Ganz","year":"2012","unstructured":"Ganz A, Schafer J, Gandhi S, Puleo E, Wilson C, Robertson M (2012) Percept indoor navigation system for the blind and visually impaired: architecture and experimentation. Int J Telemed Appl 2012:19\u2013191919. https:\/\/doi.org\/10.1155\/2012\/894869","journal-title":"Int J Telemed Appl"},{"key":"222_CR123","doi-asserted-by":"publisher","unstructured":"Ganz A, Schafer JM, Tao Y, Wilson C, Robertson M (2014) Percept-II: Smartphone based indoor navigation system for the blind. In: 2014 36th annual international conference of the IEEE engineering in medicine and biology society, pp 3662\u20133665. https:\/\/doi.org\/10.1109\/EMBC.2014.6944417","DOI":"10.1109\/EMBC.2014.6944417"},{"key":"222_CR124","doi-asserted-by":"publisher","first-page":"288","DOI":"10.1016\/j.ins.2014.08.011","volume":"320","author":"C Tsirmpas","year":"2015","unstructured":"Tsirmpas C, Rompas A, Fokou O, Koutsouris D (2015) An indoor navigation system for visually impaired and elderly people based on radio frequency identification (RFID). Inf Sci 320:288\u2013305. https:\/\/doi.org\/10.1016\/j.ins.2014.08.011","journal-title":"Inf Sci"},{"issue":"5","key":"222_CR125","doi-asserted-by":"publisher","first-page":"521","DOI":"10.1109\/TST.2016.7590321","volume":"21","author":"Qiongzheng Lin","year":"2016","unstructured":"Lin Qiongzheng, Guo Y (2016) Accurate indoor navigation system using human-item spatial relation. Tsinghua Sci Technol 21(5):521\u2013537. https:\/\/doi.org\/10.1109\/TST.2016.7590321","journal-title":"Tsinghua Sci Technol"},{"key":"222_CR126","doi-asserted-by":"crossref","unstructured":"Loconsole C, Dehkordi MB, Sotgiu E, Fontana M, Bergamasco M, Frisoli A (2016) An IMU and RFID-based navigation system providing vibrotactile feedback for visually impaired people. In: International conference on human haptic sensing and touch enabled computer applications, Springer, pp 360\u2013370","DOI":"10.1007\/978-3-319-42321-0_33"},{"key":"222_CR127","doi-asserted-by":"publisher","DOI":"10.3390\/s17081806","author":"H Xu","year":"2017","unstructured":"Xu H, Ding Y, Li P, Wang R, Li Y (2017) An RFID indoor positioning algorithm based on bayesian probability and k-nearest neighbor. Sensors. https:\/\/doi.org\/10.3390\/s17081806","journal-title":"Sensors"},{"key":"222_CR128","doi-asserted-by":"publisher","unstructured":"Ganti D, Zhang W, Kavehrad M (2014) VLC-based indoor positioning system with tracking capability using Kalman and particle filters. In: 2014 IEEE international conference on consumer electronics (ICCE), pp 476\u2013477. https:\/\/doi.org\/10.1109\/ICCE.2014.6776093","DOI":"10.1109\/ICCE.2014.6776093"},{"key":"222_CR129","doi-asserted-by":"publisher","unstructured":"Jayakody A, Meegama CI, Pinnawalage HU, Muwenwella RMHN, Dalpathado SC (2016) AVII [assist vision impaired individual]: an intelligent indoor navigation system for the vision impaired individuals with vlc. In: 2016 IEEE international conference on information and automation for sustainability (ICIAfS), pp 1\u20136. https:\/\/doi.org\/10.1109\/ICIAFS.2016.7946526","DOI":"10.1109\/ICIAFS.2016.7946526"},{"key":"222_CR130","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1186\/1687-1499-2013-37","volume":"1","author":"M Nakajima","year":"2013","unstructured":"Nakajima M (2013) New indoor navigation system for visually impaired people using visible light communication. EURASIP J Wirel Commun Netw 1:37. https:\/\/doi.org\/10.1186\/1687-1499-2013-37","journal-title":"EURASIP J Wirel Commun Netw"},{"issue":"10","key":"222_CR131","doi-asserted-by":"publisher","first-page":"3116","DOI":"10.1109\/JSEN.2017.2689802","volume":"17","author":"Q Fan","year":"2017","unstructured":"Fan Q, Sun B, Sun Y, Zhuang X (2017) Performance enhancement of MEMS-based INS\/UWB integration for indoor navigation applications. IEEE Sens J 17(10):3116\u20133130. https:\/\/doi.org\/10.1109\/JSEN.2017.2689802","journal-title":"IEEE Sens J"},{"issue":"2","key":"222_CR132","doi-asserted-by":"publisher","first-page":"187","DOI":"10.1007\/s10479-017-2398-2","volume":"265","author":"H-H Hsu","year":"2018","unstructured":"Hsu H-H, Chang J-K, Peng W-J, Shih TK, Pai T-W, Man KL (2018) Indoor localization and navigation using smartphone sensory data. Ann Oper Res 265(2):187\u2013204. https:\/\/doi.org\/10.1007\/s10479-017-2398-2","journal-title":"Ann Oper Res"},{"issue":"1","key":"222_CR133","doi-asserted-by":"publisher","first-page":"287","DOI":"10.1007\/s11277-018-5688-3","volume":"101","author":"MA Hasan","year":"2018","unstructured":"Hasan MA, Mishuk MN (2018) Mems IMU based pedestrian indoor navigation for smart glass. Wirel Pers Commun 101(1):287\u2013303. https:\/\/doi.org\/10.1007\/s11277-018-5688-3","journal-title":"Wirel Pers Commun"},{"issue":"16","key":"222_CR134","doi-asserted-by":"publisher","first-page":"6756","DOI":"10.1109\/JSEN.2018.2847356","volume":"18","author":"H Ju","year":"2018","unstructured":"Ju H, Park SY, Park CG (2018) A smartphone-based pedestrian dead reckoning system with multiple virtual tracking for indoor navigation. IEEE Sens J 18(16):6756\u20136764. https:\/\/doi.org\/10.1109\/JSEN.2018.2847356","journal-title":"IEEE Sens J"},{"issue":"6","key":"222_CR135","doi-asserted-by":"publisher","first-page":"891","DOI":"10.4218\/etrij.10.0110.0037","volume":"32","author":"SH Shin","year":"2010","unstructured":"Shin SH, Park CG, Choi S (2010) New map-matching algorithm using virtual track for pedestrian dead reckoning. ETRI J 32(6):891\u2013900","journal-title":"ETRI J"},{"issue":"10","key":"222_CR136","doi-asserted-by":"publisher","first-page":"3193","DOI":"10.1109\/JSEN.2017.2679138","volume":"17","author":"Y Hsu","year":"2017","unstructured":"Hsu Y, Wang J, Chang C (2017) A wearable inertial pedestrian navigation system with quaternion-based extended kalman filter for pedestrian localization. IEEE Sens J 17(10):3193\u20133206. https:\/\/doi.org\/10.1109\/JSEN.2017.2679138","journal-title":"IEEE Sens J"},{"issue":"23","key":"222_CR137","doi-asserted-by":"publisher","first-page":"7794","DOI":"10.1109\/JSEN.2017.2725446","volume":"17","author":"G Giorgi","year":"2017","unstructured":"Giorgi G, Frigo G, Narduzzi C (2017) Dead reckoning in structured environments for human indoor navigation. IEEE Sens J 17(23):7794\u20137802. https:\/\/doi.org\/10.1109\/JSEN.2017.2725446","journal-title":"IEEE Sens J"},{"issue":"17","key":"222_CR138","doi-asserted-by":"publisher","first-page":"3786","DOI":"10.3390\/s19173786","volume":"19","author":"H-Y Huang","year":"2019","unstructured":"Huang H-Y, Hsieh C-Y, Liu K-C, Cheng H-C, Hsu SJ, Chan C-T (2019) Multi-sensor fusion approach for improving map-based indoor pedestrian localization. Sensors 19(17):3786","journal-title":"Sensors"},{"key":"222_CR139","doi-asserted-by":"publisher","first-page":"36836","DOI":"10.1109\/ACCESS.2020.2972962","volume":"8","author":"J Luo","year":"2020","unstructured":"Luo J, Zhang C, Wang C (2020) Indoor multi-floor 3D target tracking based on the multi-sensor fusion. IEEE Access 8:36836\u201336846","journal-title":"IEEE Access"},{"key":"222_CR140","doi-asserted-by":"crossref","unstructured":"Poulose A, Eyobu OS, Han DS (2019) A combined PDR and wi-fi trilateration algorithm for indoor localization. In: 2019 international conference on artificial intelligence in information and communication (ICAIIC), IEEE, pp 072\u2013077","DOI":"10.1109\/ICAIIC.2019.8669059"},{"key":"222_CR141","doi-asserted-by":"publisher","first-page":"108","DOI":"10.1016\/j.inffus.2017.04.006","volume":"39","author":"S Qiu","year":"2018","unstructured":"Qiu S, Wang Z, Zhao H, Qin K, Li Z, Hu H (2018) Inertial\/magnetic sensors based pedestrian dead reckoning by means of multi-sensor fusion. Inf Fus 39:108\u2013119","journal-title":"Inf Fus"},{"issue":"12","key":"222_CR142","doi-asserted-by":"publisher","first-page":"4142","DOI":"10.3390\/s18124142","volume":"18","author":"J Kuang","year":"2018","unstructured":"Kuang J, Niu X, Zhang P, Chen X (2018) Indoor positioning based on pedestrian dead reckoning and magnetic field matching for smartphones. Sensors 18(12):4142","journal-title":"Sensors"},{"issue":"1","key":"222_CR143","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s12652-017-0579-0","volume":"10","author":"L Ciabattoni","year":"2019","unstructured":"Ciabattoni L, Foresi G, Monteri\u00f9 A, Pepa L, Pagnotta DP, Spalazzi L, Verdini F (2019) Real time indoor localization integrating a model based pedestrian dead reckoning on smartphone and BLE beacons. J Ambient Intell Humaniz Comput 10(1):1\u201312","journal-title":"J Ambient Intell Humaniz Comput"},{"key":"222_CR144","doi-asserted-by":"crossref","unstructured":"Yu S-J, Jan S-S, De Lorenzo DS (2018) Indoor navigation using wi-fi fingerprinting combined with pedestrian dead reckoning. In: 2018 IEEE\/ION position, location and navigation symposium (PLANS), IEEE, pp 246\u2013253","DOI":"10.1109\/PLANS.2018.8373387"},{"issue":"5","key":"222_CR145","doi-asserted-by":"publisher","first-page":"1119","DOI":"10.1109\/TMC.2017.2725265","volume":"17","author":"Z Liu","year":"2018","unstructured":"Liu Z, Dai W, Win MZ (2018) Mercury: an infrastructure-free system for network localization and navigation. IEEE Trans Mob Comput 17(5):1119\u20131133. https:\/\/doi.org\/10.1109\/TMC.2017.2725265","journal-title":"IEEE Trans Mob Comput"},{"key":"222_CR146","doi-asserted-by":"publisher","unstructured":"Madgwick SOH, Harrison AJL, Vaidyanathan R (2011) Estimation of IMU and marg orientation using a gradient descent algorithm. In: 2011 IEEE international conference on rehabilitation robotics, pp 1\u20137. https:\/\/doi.org\/10.1109\/ICORR.2011.5975346","DOI":"10.1109\/ICORR.2011.5975346"},{"key":"222_CR147","doi-asserted-by":"publisher","unstructured":"Peng C, Shen G, Zhang Y, Li Y, Tan K (2007) Beepbeep: a high accuracy acoustic ranging system using cots mobile devices. In: Proceedings of the 5th international conference on embedded networked sensor systems. SenSys \u201907, ACM, New York, NY, USA, pp 1\u201314. https:\/\/doi.org\/10.1145\/1322263.1322265","DOI":"10.1145\/1322263.1322265"},{"issue":"11","key":"222_CR148","doi-asserted-by":"publisher","first-page":"2286","DOI":"10.1109\/TMC.2015.2398431","volume":"14","author":"Z Xiao","year":"2015","unstructured":"Xiao Z, Wen H, Markham A, Trigoni N (2015) Indoor tracking using undirected graphical models. IEEE Trans Mob Comput 14(11):2286\u20132301. https:\/\/doi.org\/10.1109\/TMC.2015.2398431","journal-title":"IEEE Trans Mob Comput"},{"key":"222_CR149","doi-asserted-by":"publisher","unstructured":"Hilsenbeck S, Bobkov D, Schroth G, Huitl R, Steinbach E (2014) Graph-based data fusion of pedometer and wifi measurements for mobile indoor positioning. In: Proceedings of the 2014 ACM international joint conference on pervasive and ubiquitous computing. UbiComp \u201914, ACM, New York, NY, USA, pp 147\u2013158. https:\/\/doi.org\/10.1145\/2632048.2636079","DOI":"10.1145\/2632048.2636079"},{"key":"222_CR150","doi-asserted-by":"publisher","unstructured":"Mendoza-Silva GM, Torres-Sospedra J, Huerta J (2017) A more realistic error distance calculation for indoor positioning systems accuracy evaluation. In: 2017 international conference on indoor positioning and indoor navigation (IPIN), pp 1\u20138. https:\/\/doi.org\/10.1109\/IPIN.2017.8115950","DOI":"10.1109\/IPIN.2017.8115950"},{"key":"222_CR151","doi-asserted-by":"crossref","unstructured":"Cai C, Zheng R, Li J, Zhu L, Pu H, Hu M (2019) Asynchronous acoustic localization and tracking for mobile targets. IEEE Internet Things J","DOI":"10.1109\/JIOT.2019.2945054"},{"issue":"4","key":"222_CR152","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3342517","volume":"15","author":"H Wu","year":"2019","unstructured":"Wu H, Mo Z, Tan J, He S, Chan S-HG (2019) Efficient indoor localization based on geomagnetism. ACM Trans Sens Netw 15(4):1\u201325","journal-title":"ACM Trans Sens Netw"},{"issue":"1","key":"222_CR153","doi-asserted-by":"publisher","first-page":"2","DOI":"10.1186\/s13673-019-0207-4","volume":"10","author":"M Liu","year":"2020","unstructured":"Liu M, Cheng L, Qian K, Wang J, Wang J, Liu Y (2020) Indoor acoustic localization: a survey. Hum-Centric Comput Inf Sci 10(1):2","journal-title":"Hum-Centric Comput Inf Sci"}],"container-title":["Human-centric Computing and Information Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1186\/s13673-020-00222-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1186\/s13673-020-00222-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1186\/s13673-020-00222-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,10,22]],"date-time":"2022-10-22T20:15:34Z","timestamp":1666469734000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1186\/s13673-020-00222-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5,2]]},"references-count":153,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2020,12]]}},"alternative-id":["222"],"URL":"https:\/\/doi.org\/10.1186\/s13673-020-00222-0","relation":{},"ISSN":["2192-1962"],"issn-type":[{"value":"2192-1962","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,5,2]]},"assertion":[{"value":"27 December 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 April 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 May 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"The authors declare that they have no competing interests.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"18"}}