Real-time 3D indoor localization

We present real time indoor localization in the multi-story building using 3D particle filter. Filtration takes place in three dimensional space. Presented method incorporates information from inertial sensors, Wi-Fi signal strength, barometric and building data. We also describe additional methods for determining final locations. Algorithm was tested in multi-story office building and results show that it performs better than particle filters running in two dimensional spaces. Furthermore we propose novel incorporation of floor detection algorithm into particle filter.