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Maria Garcia Puyol, Patrick Robertson, Michael Angermann. Managing large-scale mapping and localization for pedestrians using inertial sensors. In 2013 IEEE International Conference on Pervasive Computing and Communications Workshops, PERCOM 2013 Workshops, San Diego, CA, USA, March 18-22, 2013. pages 121-126, IEEE, 2013. [doi]

The following publications are possibly variants of this publication:

Pedestrian Simultaneous Localization and Mapping in Multistory Buildings Using Inertial SensorsMaria Garcia Puyol, Dmytro Bobkov, Patrick Robertson, Thomas Jost. tits, 15(4):1714-1727, 2014. [doi]

Simultaneous localization and mapping for pedestrians using only foot-mounted inertial sensorsPatrick Robertson, Michael Angermann, Bernhard Krach. huc 2009: 93-96 [doi]

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