{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T05:51:27Z","timestamp":1770270687286,"version":"3.49.0"},"reference-count":39,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2022,9,16]],"date-time":"2022-09-16T00:00:00Z","timestamp":1663286400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Hong Kong Polytechnic University","award":["1-ZVN6"],"award-info":[{"award-number":["1-ZVN6"]}]},{"name":"Hong Kong Polytechnic University","award":["4-BCF7"],"award-info":[{"award-number":["4-BCF7"]}]},{"name":"Hong Kong Polytechnic University","award":["1-ZVE8"],"award-info":[{"award-number":["1-ZVE8"]}]},{"name":"Hong Kong Polytechnic University","award":["T22-505\/19-N"],"award-info":[{"award-number":["T22-505\/19-N"]}]},{"name":"State Bureau of Surveying and Mapping","award":["1-ZVN6"],"award-info":[{"award-number":["1-ZVN6"]}]},{"name":"State Bureau of Surveying and Mapping","award":["4-BCF7"],"award-info":[{"award-number":["4-BCF7"]}]},{"name":"State Bureau of Surveying and Mapping","award":["1-ZVE8"],"award-info":[{"award-number":["1-ZVE8"]}]},{"name":"State Bureau of Surveying and Mapping","award":["T22-505\/19-N"],"award-info":[{"award-number":["T22-505\/19-N"]}]},{"name":"Hong Kong Research Grants Council","award":["1-ZVN6"],"award-info":[{"award-number":["1-ZVN6"]}]},{"name":"Hong Kong Research Grants Council","award":["4-BCF7"],"award-info":[{"award-number":["4-BCF7"]}]},{"name":"Hong Kong Research Grants Council","award":["1-ZVE8"],"award-info":[{"award-number":["1-ZVE8"]}]},{"name":"Hong Kong Research Grants Council","award":["T22-505\/19-N"],"award-info":[{"award-number":["T22-505\/19-N"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Crowd-sensing-based localization is regarded as an effective method for providing indoor location-based services in large-scale urban areas. The performance of the crowd-sensing approach is subject to the poor accuracy of collected daily-life trajectories and the efficient combination of different location sources and indoor maps. This paper proposes a robust map-assisted 3D Indoor localization framework using crowd-sensing-based trajectory data and error ellipse-enhanced fusion (ML-CTEF). In the off-line phase, novel inertial odometry which contains the combination of 1D-convolutional neural networks (1D-CNN) and Bi-directional Long Short-Term Memory (Bi-LSTM)-based walking speed estimator is proposed for accurate crowd-sensing trajectories data pre-processing under different handheld modes. The Bi-LSTM network is further applied for floor identification, and the indoor network matching algorithm is adopted for the generation of fingerprinting database without pain. In the online phase, an error ellipse-assisted particle filter is proposed for the intelligent integration of inertial odometry, crowdsourced Wi-Fi fingerprinting, and indoor map information. The experimental results prove that the proposed ML-CTEF realizes autonomous and precise 3D indoor localization performance under complex and large-scale indoor environments; the estimated average positioning error is within 1.01 m in a multi-floor contained indoor building.<\/jats:p>","DOI":"10.3390\/rs14184636","type":"journal-article","created":{"date-parts":[[2022,9,19]],"date-time":"2022-09-19T04:49:22Z","timestamp":1663562962000},"page":"4636","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Map-Assisted 3D Indoor Localization Using Crowd-Sensing-Based Trajectory Data and Error Ellipse-Enhanced Fusion"],"prefix":"10.3390","volume":"14","author":[{"given":"Qiao","family":"Wan","sequence":"first","affiliation":[{"name":"College of Computer Science and Technology, Guizhou University, Guiyang 550025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3529-585X","authenticated-orcid":false,"given":"Yue","family":"Yu","sequence":"additional","affiliation":[{"name":"Department of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong 999077, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6683-2342","authenticated-orcid":false,"given":"Ruizhi","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9791-5183","authenticated-orcid":false,"given":"Liang","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,9,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"11827","DOI":"10.1109\/JIOT.2021.3132023","article-title":"H-WPS: Hybrid wireless positioning system using an enhanced wi-fi FTM\/RSSI\/MEMS sensors integration approach","volume":"9","author":"Yu","year":"2022","journal-title":"IEEE Internet Things"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"10791","DOI":"10.1109\/TVT.2019.2938893","article-title":"Indoor localization system based on hybrid Wi-Fi\/BLE and hierarchical topological fingerprinting approach","volume":"68","author":"Luo","year":"2019","journal-title":"IEEE Trans. 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