{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,7]],"date-time":"2026-05-07T23:06:53Z","timestamp":1778195213029,"version":"3.51.4"},"reference-count":117,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2017,10,13]],"date-time":"2017-10-13T00:00:00Z","timestamp":1507852800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003696","name":"Electronics and Telecommunications Research Institute","doi-asserted-by":"publisher","award":["16ZC1500"],"award-info":[{"award-number":["16ZC1500"]}],"id":[{"id":"10.13039\/501100003696","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003696","name":"Electronics and Telecommunications Research Institute","doi-asserted-by":"publisher","award":["Track 2 Award"],"award-info":[{"award-number":["Track 2 Award"]}],"id":[{"id":"10.13039\/501100003696","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Ministerio de Econom\u00eda, Industria y Competitividad (es)","award":["TIN2013-47630-C2-1-R"],"award-info":[{"award-number":["TIN2013-47630-C2-1-R"]}]},{"name":"Ministerio de Econom\u00eda, Industria y Competitividad (es)","award":["TIN2015-70202-P"],"award-info":[{"award-number":["TIN2015-70202-P"]}]},{"name":"Ministerio de Econom\u00eda, Industria y Competitividad (es)","award":["TIN2016-75982-C2-1-R"],"award-info":[{"award-number":["TIN2016-75982-C2-1-R"]}]},{"name":"Ministerio de Econom\u00eda, Industria y Competitividad (es)","award":["TEC2015-71426-REDT"],"award-info":[{"award-number":["TEC2015-71426-REDT"]}]},{"name":"Ministerio de Econom\u00eda, Industria y Competitividad (es)","award":["CAS16\/00072"],"award-info":[{"award-number":["CAS16\/00072"]}]},{"name":"Korean Institute of 749 Communications and Information Sciences","award":["Track 1 Award"],"award-info":[{"award-number":["Track 1 Award"]}]},{"name":"Tecnalia Corporaci\u00f3n Tecnol\u00f3gica","award":["Track 3 Award"],"award-info":[{"award-number":["Track 3 Award"]}]},{"name":"ASTI","award":["Track 4 Award"],"award-info":[{"award-number":["Track 4 Award"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In recent years, indoor localization systems have been the object of significant research activity and of growing interest for their great expected social impact and their impressive business potential. Application areas include tracking and navigation, activity monitoring, personalized advertising, Active and Assisted Living (AAL), traceability, Internet of Things (IoT) networks, and Home-land Security. In spite of the numerous research advances and the great industrial interest, no canned solutions have yet been defined. The diversity and heterogeneity of applications, scenarios, sensor and user requirements, make it difficult to create uniform solutions. From that diverse reality, a main problem is derived that consists in the lack of a consensus both in terms of the metrics and the procedures used to measure the performance of the different indoor localization and navigation proposals. This paper introduces the general lines of the EvAAL benchmarking framework, which is aimed at a fair comparison of indoor positioning systems through a challenging competition under complex, realistic conditions. To evaluate the framework capabilities, we show how it was used in the 2016 Indoor Positioning and Indoor Navigation (IPIN) Competition. The 2016 IPIN competition considered three different scenario dimensions, with a variety of use cases: (1) pedestrian versus robotic navigation, (2) smartphones versus custom hardware usage and (3) real-time positioning versus off-line post-processing. A total of four competition tracks were evaluated under the same EvAAL benchmark framework in order to validate its potential to become a standard for evaluating indoor localization solutions. The experience gained during the competition and feedback from track organizers and competitors showed that the EvAAL framework is flexible enough to successfully fit the very different tracks and appears adequate to compare indoor positioning systems.<\/jats:p>","DOI":"10.3390\/s17102327","type":"journal-article","created":{"date-parts":[[2017,10,13]],"date-time":"2017-10-13T11:34:09Z","timestamp":1507894449000},"page":"2327","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":79,"title":["Comparing the Performance of Indoor Localization Systems through the EvAAL Framework"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3835-3920","authenticated-orcid":false,"given":"Francesco","family":"Potort\u00ec","sequence":"first","affiliation":[{"name":"ISTI Institute of CNR, Pisa 56124, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sangjoon","family":"Park","sequence":"additional","affiliation":[{"name":"Electronics and Telecommunications Research Institute (ETRI), Daejeon 34129, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9771-1930","authenticated-orcid":false,"given":"Antonio","family":"Jim\u00e9nez Ruiz","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics, CSIC-UPM, Arganda del Rey 28500, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6862-7593","authenticated-orcid":false,"given":"Paolo","family":"Barsocchi","sequence":"additional","affiliation":[{"name":"ISTI Institute of CNR, Pisa 56124, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michele","family":"Girolami","sequence":"additional","affiliation":[{"name":"ISTI Institute of CNR, Pisa 56124, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7238-2181","authenticated-orcid":false,"given":"Antonino","family":"Crivello","sequence":"additional","affiliation":[{"name":"ISTI Institute of CNR, Pisa 56124, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"So","family":"Lee","sequence":"additional","affiliation":[{"name":"Electronics and Telecommunications Research Institute (ETRI), Daejeon 34129, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jae","family":"Lim","sequence":"additional","affiliation":[{"name":"Electronics and Telecommunications Research Institute (ETRI), Daejeon 34129, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4338-4334","authenticated-orcid":false,"given":"Joaqu\u00edn","family":"Torres-Sospedra","sequence":"additional","affiliation":[{"name":"Institute of New Imaging Technologies, Universitat Jaume I, Castell\u00f3n de la Plana 12071, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2922-2710","authenticated-orcid":false,"given":"Fernando","family":"Seco","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics, CSIC-UPM, Arganda del Rey 28500, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8467-391X","authenticated-orcid":false,"given":"Raul","family":"Montoliu","sequence":"additional","affiliation":[{"name":"Institute of New Imaging Technologies, Universitat Jaume I, Castell\u00f3n de la Plana 12071, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2744-0236","authenticated-orcid":false,"given":"Germ\u00e1n","family":"Mendoza-Silva","sequence":"additional","affiliation":[{"name":"Institute of New Imaging Technologies, Universitat Jaume I, Castell\u00f3n de la Plana 12071, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8271-6843","authenticated-orcid":false,"given":"Maria","family":"P\u00e9rez Rubio","sequence":"additional","affiliation":[{"name":"University of Alcal\u00e1, Department of Electronics, Alcal\u00e1 de Henares 28871, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9545-327X","authenticated-orcid":false,"given":"Cristina","family":"Losada-Guti\u00e9rrez","sequence":"additional","affiliation":[{"name":"University of Alcal\u00e1, Department of Electronics, Alcal\u00e1 de Henares 28871, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1588-0947","authenticated-orcid":false,"given":"Felipe","family":"Espinosa","sequence":"additional","affiliation":[{"name":"University of Alcal\u00e1, Department of Electronics, Alcal\u00e1 de Henares 28871, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3303-3963","authenticated-orcid":false,"given":"Javier","family":"Macias-Guarasa","sequence":"additional","affiliation":[{"name":"University of Alcal\u00e1, Department of Electronics, Alcal\u00e1 de Henares 28871, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,10,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"359","DOI":"10.1007\/s00779-011-0499-5","article-title":"Smartphone-based pedestrian tracking in indoor corridor environments","volume":"17","author":"Park","year":"2013","journal-title":"Pers. 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