{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,27]],"date-time":"2026-01-27T14:36:19Z","timestamp":1769524579586,"version":"3.49.0"},"reference-count":30,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2020,8,22]],"date-time":"2020-08-22T00:00:00Z","timestamp":1598054400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100007637","name":"Departamento Administrativo de Ciencia, Tecnolog\u00eda e Innovaci\u00f3n (COLCIENCIAS)","doi-asserted-by":"publisher","award":["1061728514"],"award-info":[{"award-number":["1061728514"]}],"id":[{"id":"10.13039\/100007637","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010767","name":"Innovative Medicines Initiative","doi-asserted-by":"publisher","award":["820820"],"award-info":[{"award-number":["820820"]}],"id":[{"id":"10.13039\/501100010767","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Indoor location estimation is crucial to provide context-based assistance in home environments. In this study, a method for simultaneous indoor pedestrian localization and house mapping is proposed and evaluated. The method fuses a person\u2019s movement data from an Inertial Measurement Unit (IMU) with proximity and activity-related data from Bluetooth Low-Energy (BLE) beacons deployed in the indoor environment. The person\u2019s and beacons\u2019 localization is performed simultaneously using a combination of particle and Kalman Filters. We evaluated the method using data from eight participants who performed different activities in an indoor environment. As a result, the average participant\u2019s localization error was 1.05 \u00b1 0.44 m, and the average beacons\u2019 localization error was 0.82 \u00b1 0.24 m. The proposed method is able to construct a map of the indoor environment by localizing the BLE beacons and simultaneously locating the person. The results obtained demonstrate that the proposed method could point to a promising roadmap towards the development of simultaneous localization and home mapping system based only on one IMU and a few BLE beacons. To the best of our knowledge, this is the first method that includes the beacons\u2019 data movement as activity-related events in a method for pedestrian Simultaneous Localization and Mapping (SLAM).<\/jats:p>","DOI":"10.3390\/s20174742","type":"journal-article","created":{"date-parts":[[2020,8,23]],"date-time":"2020-08-23T21:28:06Z","timestamp":1598218086000},"page":"4742","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Simultaneous Indoor Pedestrian Localization and House Mapping Based on Inertial Measurement Unit and Bluetooth Low-Energy Beacon Data"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7210-6312","authenticated-orcid":false,"given":"Jesus D.","family":"Ceron","sequence":"first","affiliation":[{"name":"Telematics Engineering Research Group, Telematics Department, Universidad Del Cauca (Unicauca), Popay\u00e1n 190002, Colombia"},{"name":"Machine Learning and Data Analytics Lab, Computer Science Department, Friedrich-Alexander University, Erlangen-N\u00fcrnberg (FAU), 91052 Erlangen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4921-6104","authenticated-orcid":false,"given":"Felix","family":"Kluge","sequence":"additional","affiliation":[{"name":"Machine Learning and Data Analytics Lab, Computer Science Department, Friedrich-Alexander University, Erlangen-N\u00fcrnberg (FAU), 91052 Erlangen, Germany"}]},{"given":"Arne","family":"K\u00fcderle","sequence":"additional","affiliation":[{"name":"Machine Learning and Data Analytics Lab, Computer Science Department, Friedrich-Alexander University, Erlangen-N\u00fcrnberg (FAU), 91052 Erlangen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0417-0336","authenticated-orcid":false,"given":"Bjoern M.","family":"Eskofier","sequence":"additional","affiliation":[{"name":"Machine Learning and Data Analytics Lab, Computer Science Department, Friedrich-Alexander University, Erlangen-N\u00fcrnberg (FAU), 91052 Erlangen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9425-4375","authenticated-orcid":false,"given":"Diego M.","family":"L\u00f3pez","sequence":"additional","affiliation":[{"name":"Telematics Engineering Research Group, Telematics Department, Universidad Del Cauca (Unicauca), Popay\u00e1n 190002, Colombia"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,22]]},"reference":[{"key":"ref_1","first-page":"3","article-title":"The Computer for the 21st Century","volume":"3","author":"Weiser","year":"1991","journal-title":"Sci. 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