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Renaudin V, Ortiz M, Peru J and et al (2019), "Evaluating Indoor Positioning Systems in a Shopping Mall: The Lessons Learned From the IPIN 2018 Competition", IEEE ACCESS. , pp. 148594 - 148628. Institute of Electrical and Electronics Engineers -- IEEE.
Abstract: The Indoor Positioning and Indoor Navigation (IPIN) conference holds an annual competition in which indoor localization systems from different research groups worldwide are evaluated empirically. The objective of this competition is to establish a systematic evaluation methodology with rigorous metrics both for real--time (on--site) and post--processing (off--site) situations, in a realistic environment unfamiliar to the prototype developers. For the IPIN 2018 conference, this competition was held on September 22nd, 2018, in Atlantis, a large shopping mall in Nantes (France). Four competition tracks (two on--site and two off--site) were designed. They consisted of several 1 km routes traversing several floors of the mall. Along these paths, 180 points were topographically surveyed with a 10 cm accuracy, to serve as ground truth landmarks, combining theodolite measurements, differential global navigation satellite system (GNSS) and 3D scanner systems. 34 teams effectively competed. The accuracy score corresponds to the third quartile (75 th percentile) of an error metric that combines the horizontal positioning error and the floor detection. The best results for the on--site tracks showed an accuracy score of 11.70 m (Track 1) and 5.50 m (Track 2), while the best results for the off--site tracks showed an accuracy score of 0.90 m (Track 3) and 1.30 m (Track 4). These results showed that it is possible to obtain high accuracy indoor positioning solutions in large, realistic environments using wearable light--weight sensors without deploying any beacon. This paper describes the organization work of the tracks, analyzes the methodology used to quantify the results, reviews the lessons learned from the competition and discusses its future.
BibTeX:
@article{RENAUDIN2019b,
  author = {Renaudin, Valérie and Ortiz, Miguel and Peru, Johan and et al, --},
  title = {Evaluating Indoor Positioning Systems in a Shopping Mall: The Lessons Learned From the IPIN 2018 Competition},
  journal = {IEEE ACCESS},
  publisher = {Institute of Electrical and Electronics Engineers -- IEEE},
  year = {2019},
  pages = {148594 -- 148628},
  url = {https://ieeexplore.ieee.org/document/8852722/keywordskeywords},
  doi = {10.1109/ACCESS.2019.2944389}
}
Perul J and Renaudin V (2019), "Learning individual models to estimate the walking direction of mobile phone users", IEEE Sensors Journal. Vol. 10 p((10 p)) IEEE.
Abstract: Pedestrian Dead Reckoning algorithms are com-- monly used to assist pedestrian navigation with handheld sensors. The estimation of the walking direction remains an important source of positioning error of mobile phone users since this direction may be different from the device's pointing direction. A better understanding of human walking gait has enabled to produce new algorithms to mitigate the impact of the way the device is held in hand. WAISS algorithm is one of them. It is based on the study of horizontal hand accelerations and their modeling using Gaussian Mixture Models (GMM). However, ongoing search for universal modeling of handheld device carrying mode defeats the varying nature of human gait. This paper investigates the impact of individual gait characteristics and their modeling to improve the estimation of the walking direction. Different models are learned for curved and straight lines and varying GMM are proposed to account for inter--individual gait variations. This results in a reduced walking direction error with a 8.1? mean error to the 90th percentile computed for 3 subjects over a 1.5 km indoor/outdoor walk.
BibTeX:
@article{PERUL2019a,
  author = {Perul, Johan and Renaudin, Valérie},
  title = {Learning individual models to estimate the walking direction of mobile phone users},
  journal = {IEEE Sensors Journal},
  publisher = {IEEE},
  year = {2019},
  volume = {10 p},
  number = {(10 p)},
  url = {https://ieeexplore.ieee.org/document/8827533},
  doi = {10.1109/JSEN.2019.2940138}
}
Ortiz M, Perul J, Torres-Sospedra J and Renaudin V (2019), "Datasets and Supporting Materials for the IPIN 2018 Competition Track 4 (Foot-Mounted IMU based Positioning, off-site)", may, 2019.
BibTeX:
@article{Ortiz2019,
  author = {Ortiz, Miguel and Perul, Johan and Torres-Sospedra, Joaquin and Renaudin, Valérie},
  title = {Datasets and Supporting Materials for the IPIN 2018 Competition Track 4 (Foot-Mounted IMU based Positioning, off-site)},
  year = {2019},
  url = {https://doi.org/10.5281/zenodo.3228012.XO6eEBeuBk.mendeley},
  doi = {10.5281/ZENODO.3228012}
}
Antigny N, Uchiyama H, Servières M, Renaudin V, Thomas D and Taniguchi R-i (2019), "Solving Monocular Visual Odometry Scale Factor with Adaptive Step Length Estimates for Pedestrians Using Handheld Devices", sensors. Vol. 19(953)
Abstract: The urban environments represent challenging areas for handheld device pose estimation (i.e., 3D position and 3D orientation) in large displacements. It is even more challenging with low-cost sensors and computational resources that are available in pedestrian mobile devices (i.e., monocular camera and Inertial Measurement Unit). To address these challenges, we propose a continuous pose estimation based on monocular Visual Odometry. To solve the scale ambiguity and suppress the scale drift, an adaptive pedestrian step lengths estimation is used for the displacements on the horizontal plane. To complete the estimation, a handheld equipment height model, with respect to the Digital Terrain Model contained in Geographical Information Systems, is used for the displacement on the vertical axis. In addition, an accurate pose estimation based on the recognition of known objects is punctually used to correct the pose estimate and reset the monocular Visual Odometry. To validate the benefit of our framework, experimental data have been collected on a 0.7 km pedestrian path in an urban environment for various people. Thus, the proposed solution allows to achieve a positioning error of 1.6–7.5% of the walked distance, and confirms the benefit of the use of an adaptive step length compared to the use of a fixed-step length.
BibTeX:
@article{Antigny2019,
  author = {Antigny, Nicolas and Uchiyama, Hideaki and Servières, Myriam and Renaudin, Valérie and Thomas, Diego and Taniguchi, Rin-ichiro},
  title = {Solving Monocular Visual Odometry Scale Factor with Adaptive Step Length Estimates for Pedestrians Using Handheld Devices},
  journal = {sensors},
  year = {2019},
  volume = {19},
  number = {953},
  doi = {10.3390/s19040953}
}
Renaudin V, Moreau N, Billey A, Lamblin A, Vos J, Perul J and Ortiz M (2018), "Préparation de la compétition internationale de localisation intérieure IPIN : cartographie de parcours piétons", XYZ. Vol. 155, pp. 17-21.
Abstract: Depuis quelques années des compétitions internationales destinées à comparer les technologies de localisation à l'intérieur des bâtiments sont organisées. Face à la diversification de ces technologies, elles permettent de fixer une cadre unique d'évaluation des performances de localisation en temps réel ou différé. Un levé topographique d'envergure qui combine mesures au théodolite, par GNSS différentiel et scanner 3D a permis de cartographier à 10 cm près les 180 cibles réparties dans le centre commercial Atlantis à Nantes. Ces cibles définissent les parcours sur lesquels les compétiteurs du congrès international IPIN s'affronteront le 22 septembre. Ce projet a été réalisé par quatre étudiants de l'ESGT sous la direction du laboratoire GEOLOC de l'IFSTTAR et avec le soutien de la société Viametris.
BibTeX:
@article{Renaudin2018,
  author = {Renaudin, Valérie and Moreau, Nicolas and Billey, Antoine and Lamblin, Alexandre and Vos, Jasper and Perul, Johan and Ortiz, Miguel},
  title = {Préparation de la compétition internationale de localisation intérieure IPIN : cartographie de parcours piétons},
  journal = {XYZ},
  year = {2018},
  volume = {155},
  pages = {17--21}
}
Antigny N, Servières M and Renaudin V (2018), "Fusion of 3D GIS, Vision, Inertial and Magnetic Data for Improved Urban Pedestrian Navigation and Augmented Reality Applications", Navigation, Journal of the Institute of Navigation., sep, 2018. Vol. sept(65)
BibTeX:
@article{Antigny2018a,
  author = {Antigny, Nicolas and Servières, Myriam and Renaudin, Valérie},
  title = {Fusion of 3D GIS, Vision, Inertial and Magnetic Data for Improved Urban Pedestrian Navigation and Augmented Reality Applications},
  journal = {Navigation, Journal of the Institute of Navigation},
  year = {2018},
  volume = {sept},
  number = {65},
  url = {http://doi.wiley.com/10.1002/navi.254},
  doi = {10.1002/navi.254}
}
Ortiz M, De Sousa M and Renaudin V (2017), "A New PDR Navigation Device for Challenging Urban Environments", Journal of Sensors. Vol. 2017, pp. 1-11.
Abstract: The motivations, the design, and some applications of the new Pedestrian Dead Reckoning (PDR) navigation device, ULISS (Ubiquitous Localization with Inertial Sensors and Satellites), are presented in this paper. It is an original device conceived to follow the European recommendation of privacy by design to protect location data which opens new research toward self-contained pedestrian navigation approaches. Its application is presented with an enhanced PDR algorithm to estimate pedestrian's footpaths in an autonomous manner irrespective of the handheld device carrying mode: texting or swinging. An analysis of real-time coding issues toward a demonstrator is also conducted. Indoor experiments, conducted with 3 persons, give a 5.8% mean positioning error over the 3 km travelled distances.
BibTeX:
@article{Ortiz2017,
  author = {Ortiz, Miguel and De Sousa, Mathieu and Renaudin, Valerie},
  title = {A New PDR Navigation Device for Challenging Urban Environments},
  journal = {Journal of Sensors},
  year = {2017},
  volume = {2017},
  pages = {1--11},
  url = {https://www.hindawi.com/journals/js/2017/4080479/},
  doi = {10.1155/2017/4080479}
}
Combettes C and Renaudin V (2017), "Walking direction estimation based on statistical modeling of human gait features with handheld MIMU", IEEE/ASME Transactions on Mechatronics., dec, 2017. Vol. 22(6), pp. 2502-2511.
Abstract: textcopyright 1996-2012 IEEE. Contrary to Global Navigation Satellite System or Wi-Fi based navigation, pedestrian dead reckoning (PDR) method with handheld inertial and magnetic sensors gives the opportunity to achieve indoor/outdoor ubiquitous pedestrian localization. A remaining PDR critical issue is the estimation of the walking direction. Existing methods are principally searching for the energy main axis, but they do not consider the variability of hand movements introducing robustness issues. A new method, based on statistical models and likelihood maximization adjusted to the person and his/her activity, is proposed in this paper. Performance is assessed with experiments in a motion capture room and a shopping mall. The new statistical approach gives globally better results than state of the art methods. A 1.4° to 15.3° error on the walking direction estimates is found over several '1-km walk' tests indoors.
BibTeX:
@article{Combettes2017,
  author = {Combettes, Christophe and Renaudin, Valerie},
  title = {Walking direction estimation based on statistical modeling of human gait features with handheld MIMU},
  journal = {IEEE/ASME Transactions on Mechatronics},
  year = {2017},
  volume = {22},
  number = {6},
  pages = {2502--2511},
  url = {http://ieeexplore.ieee.org/document/8078215/},
  doi = {10.1109/TMECH.2017.2765005}
}
Alaoui FT, Betaille D and Renaudin V (2017), "Pedestrian dead reckoning navigation with the help of A* -based routing graphs in large unconstrained spaces", Wireless Communications and Mobile Computing. Vol. 2017, pp. 1-10.
Abstract: textlessptextgreater An textlessmath id="M2"textgreater textlessmrowtextgreater textlessmsuptextgreater textlessmrowtextgreater textlessmi mathvariant="normal"textgreaterAtextless/mitextgreater textless/mrowtextgreater textlessmrowtextgreater textlessmotextgreater?textless/motextgreater textless/mrowtextgreater textless/msuptextgreater textless/mrowtextgreater textless/mathtextgreater -based routing graph is proposed to assist PDR indoor and outdoor navigation with handheld devices. Measurements are provided by inertial and magnetic sensors together with a GNSS receiver. The novelty of this work lies in providing a realistic motion support that mitigates the absence of obstacles and enables the calibration of the PDR model even in large spaces where GNSS signal is unavailable. This motion support is exploited for both predicting positions and updating them using a particle filter. The navigation network is used to correct for the gyro drift, to adjust the step length model and to assess heading misalignment between the pedestrian's walking direction and the pointing direction of the handheld device. Several datasets have been tested and results show that the proposed model ensures a seamless transition between outdoor and indoor environments and improves the positioning accuracy. The drift is almost cancelled thanks to heading correction in contrast with a drift of 8% for the nonaided PDR approach. The mean error of filtered positions ranges from 3 to 5?m. textless/ptextgreater
BibTeX:
@article{Alaoui2017a,
  author = {Alaoui, F. Taia and Betaille, David and Renaudin, Valerie},
  title = {Pedestrian dead reckoning navigation with the help of A* -based routing graphs in large unconstrained spaces},
  journal = {Wireless Communications and Mobile Computing},
  year = {2017},
  volume = {2017},
  pages = {1--10},
  url = {https://www.hindawi.com/journals/wcmc/2017/7951346/},
  doi = {10.1155/2017/7951346}
}
Abid M, Renaudin V, Aoustin Y, Le-Carpentier E and Robert T (2017), "Walking Gait Step Length Asymmetry Induced by Handheld Device", IEEE Transactions on Neural Systems and Rehabilitation Engineering., nov, 2017. Vol. 25(11), pp. 2075-2083.
Abstract: The modeling and feature extraction of human gait motion are crucial in biomechanics studies, human localization and robotics applications. Recent studies in pedestrian navigation aim at extracting gait features based on the data of low-cost sensors embedded in handheld devices such as smartphones. The general assumption in Pedestrian Dead Reckoning (PDR) strategy for navigation application is that the presence of a device in hand does not impact the gait symmetry and that all steps are identical. This hypothesis, which is used to estimate the traveled distance, is investigated in this paper with an experimental study. Ten healthy volunteers participated in motion lab tests with a 0.190 kg device in hand. Several walking trials with different device carrying modes and several gait speeds were performed. For a fixed walking speed, it is shown that the steps differ in their duration when holding a mass equivalent to a smartphone mass, which invalidates classical symmetry hypothesis in PDR step length modeling. It is also shown that this hypothesis can lead to a 2.5 to 6.3% error on the PDR estimated traveled distance for the different walking trials.
BibTeX:
@article{Abid2017,
  author = {Abid, Mahdi and Renaudin, Valerie and Aoustin, Yannick and Le-Carpentier, Eric and Robert, Thomas},
  title = {Walking Gait Step Length Asymmetry Induced by Handheld Device},
  journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering},
  year = {2017},
  volume = {25},
  number = {11},
  pages = {2075--2083},
  url = {http://ovidsp.ovid.com/ovidweb.cgi?T=JS&PAGE=reference&D=medp&NEWS=N&AN=28541210 https://ieeexplore.ieee.org/document/7931687/},
  doi = {10.1109/TNSRE.2017.2705285}
}
Renaudin V, Dommes A and Guilbot M (2016), "Engineering, human and legal challenges of navigation systems for personal mobility", IEEE Transaction on Intelligent Transportation Systems.
Abstract: Walking is now promoted as an alternative transport mode to polluting cars and as a successful means to improve health and longevity. Intelligent transport systems navigation ser- vices are now directly targeting travelers due to smartphones and their embedded sensors. However, after a decade of research, no universal personal navigation system has been successfully introduced and adopted to improve personalmobility. An analysis of the underlying reasons is conducted, looking at the engineering, human, ethical, and legal challenges. First, contrary to adopting classical mechanization equations linked to solid state physics, location technologies must address complex personal dynamics using connected objects. Second, human factors are often not suf- ficiently considered while designing new technologies. The needs and abilities of travelers are not systematically addressed from a user-centered perspective. Finally, people want to benefit from location-based services without sharing personal location data to uncontrolled third bodies. Europe is a pioneer in the protection of individuals from personal identification through data processing since location data has been recognized as personal data, but the challenges to enforce the regulation are numerous. The recommen- dation of “privacy by design and default� is an interesting key to conceive the universal personal navigation solution. Alternative solutions are highlighted, but they definitively require a more interdisciplinary conception.
BibTeX:
@article{Renaudin2016,
  author = {Renaudin, Valerie and Dommes, Aurelie and Guilbot, Michele},
  title = {Engineering, human and legal challenges of navigation systems for personal mobility},
  journal = {IEEE Transaction on Intelligent Transportation Systems},
  year = {2016},
  doi = {10.1109/TITS.2016.2563481}
}
Combettes C and Renaudin V (2016), "Delay Kalman Filter to estimate the attitude of a mobile object with indoor magnetic field gradients", Micromachines. Vol. 7(5), pp. 79.
Abstract: More and more services are based on knowing the location of pedestrians equipped with connected objects (smartphones, smartwatches, etc.). One part of the location estimation process is attitude estimation. Many algorithms have been proposed but they principally target open space areas where the local magnetic field equals the Earth's field. Unfortunately, this approach is impossible indoors, where the use of magnetometer arrays or magnetic field gradients has been proposed. However, current approaches omit the impact of past state estimates on the current orientation estimate, especially when a reference field is computed over a sliding window. Anovel Delay Kalman filter is proposed in this paper to integrate this time correlation: the Delay MAGYQ. Experimental assessment, conducted in a motion lab with a handheld inertial and magnetic mobile unit, shows that the novel filter better estimates the Euler angles of the handheld device with an 11.7Ë? mean error on the yaw angle as compared to 16.4Ë? with a common Additive Extended Kalman filter
BibTeX:
@article{Combettes2016,
  author = {Combettes, C and Renaudin, V},
  title = {Delay Kalman Filter to estimate the attitude of a mobile object with indoor magnetic field gradients},
  journal = {Micromachines},
  year = {2016},
  volume = {7},
  number = {5},
  pages = {79},
  doi = {10.3390/mi7050079}
}
Chable S and Renaudin V (2016), "Couplage de mesures GPS et inertielles pour de la navigation pédestre dans les bâtiments", XYZ. Vol. 146, pp. 27-32.
Abstract: Developing a precise estimation system of pedestri-an tracks inside buildings in order to qualify others navigation methods is targeted in this project. The aim of this contribution is to improve the existing solution thanks to novel GNSS observations. GNSS based velocity estimate was studied using two dif-ferent observations: Doppler frequency and Time-Differenced Carrier-Phase (TDCP). Following a per-formance comparison of the velocity estimated with both observables, the TDCP was chosen for the hy-bridization filter. The contribution of GNSS TDCP is found to be significant on the existing solution. Achieving a better biases estimate improves the overall quality of pedestrian foot tracks estimation
BibTeX:
@article{Chable2016,
  author = {Chable, Sylvain and Renaudin, Valérie},
  title = {Couplage de mesures GPS et inertielles pour de la navigation pédestre dans les bâtiments},
  journal = {XYZ},
  year = {2016},
  volume = {146},
  pages = {27--32}
}
Renaudin V and Combettes C (2014), "Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ) Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation", Sensors. Vol. 14(12), pp. 22864-22890.
BibTeX:
@article{Renaudin2014,
  author = {Renaudin, Valérie and Combettes, Christophe},
  title = {Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ) Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation},
  journal = {Sensors},
  year = {2014},
  volume = {14},
  number = {12},
  pages = {22864-22890}
}
Peyret F, Bétaille D, Pinana-Diaz C, Toledo-Moreo R, Gomez-Skarmeta A and Ortiz M (2014), "GNSS autonomous localization: Non-Line-Of-Sight satellite detection based on digital maps of city environments", IEEE Robotics and Automation Magazine., March, 2014. Vol. 21(1), pp. 57-63.
BibTeX:
@article{Peyret2014,
  author = {Peyret, F and Bétaille, D and Pinana-Diaz, C. and Toledo-Moreo, R and Gomez-Skarmeta, A. and Ortiz, M.},
  title = {GNSS autonomous localization: Non-Line-Of-Sight satellite detection based on digital maps of city environments},
  journal = {IEEE Robotics and Automation Magazine},
  year = {2014},
  volume = {21},
  number = {1},
  pages = {57-63}
}
Voyer M, Bétaille D and Peyret F (2013), "Amélioration de la position GNSS en ville par la méthode des tranchées urbaines", Géomatique Expert. Vol. 93
BibTeX:
@article{Voyer2013,
  author = {Voyer, Maxime and Bétaille, David and Peyret, François},
  title = {Amélioration de la position GNSS en ville par la méthode des tranchées urbaines},
  journal = {Géomatique Expert},
  year = {2013},
  volume = {93}
}
Susi M, Renaudin V and Lachapelle G (2013), "Motion Mode Recognition and Step Detection Algorithms for Mobile Phone Users", Sensors. Vol. 13(2), pp. 1539-1562.
BibTeX:
@article{Susi2013,
  author = {Susi, Melania and Renaudin, Valerie and Lachapelle, Gerard},
  title = {Motion Mode Recognition and Step Detection Algorithms for Mobile Phone Users},
  journal = {Sensors},
  year = {2013},
  volume = {13},
  number = {2},
  pages = {1539-1562}
}
Peyraud S, Bétaille D, Renault S, Ortiz M, Mougel F, Meizel D and Peyret F (2013), "About Non-Line-Of-Sight satellite detection and exclusion in a 3D map-aided localization algorithm", Sensors. Vol. 13, pp. 829-847.
BibTeX:
@article{Peyraud2013,
  author = {Peyraud, Sébastien and Bétaille, David and Renault, Stéphane and Ortiz, Miguel and Mougel, Florian and Meizel, Dominique and Peyret, François},
  title = {About Non-Line-Of-Sight satellite detection and exclusion in a 3D map-aided localization algorithm},
  journal = {Sensors},
  year = {2013},
  volume = {13},
  pages = {829-847}
}
Ortiz M, Renaudin V, Peyret F and Bétaille D (2013), "Using a reference vehicle for solving GNSS localization challenges", Inside GNSS. Vol. 8(5)
BibTeX:
@article{Ortiz2013,
  author = {Ortiz, Miguel and Renaudin, Valérie and Peyret, François and Bétaille, David},
  title = {Using a reference vehicle for solving GNSS localization challenges},
  journal = {Inside GNSS},
  year = {2013},
  volume = {8},
  number = {5}
}
Kamel AM, Renaudin V, Nielsen J and Lachapelle G (2013), "INS Assisted Fuzzy Tracking Loop for GPS-Guided Missiles and Vehicular Applications", International Journal of Navigation and Observation. Vol. 2013, pp. 17.
BibTeX:
@article{Kamel2013,
  author = {Kamel, Ahmed M. and Renaudin, Valerie and Nielsen, John and Lachapelle, Gerard},
  title = {INS Assisted Fuzzy Tracking Loop for GPS-Guided Missiles and Vehicular Applications},
  journal = {International Journal of Navigation and Observation},
  year = {2013},
  volume = {2013},
  pages = {17}
}
He Z, Renaudin V, Petovello MG and Lachapelle G (2013), "Use of High Sensitivity GNSS Receiver Doppler Measurements for Indoor Pedestrian Dead Reckoning", Sensors. Vol. 13(4), pp. 4303-4326.
BibTeX:
@article{He2013,
  author = {He, Zhe and Renaudin, Valerie and Petovello, Mark G. and Lachapelle, Gerard},
  title = {Use of High Sensitivity GNSS Receiver Doppler Measurements for Indoor Pedestrian Dead Reckoning},
  journal = {Sensors},
  year = {2013},
  volume = {13},
  number = {4},
  pages = {4303-4326}
}
Bétaille D, Peyret F, Ortiz M, Miquel S and Fontenay L (2013), "A new modelling based on urban trenches to improve GNSS positioning Quality of Service in cities", IEEE Intelligent Transportation Systems Magazine., Fall, 2013. Vol. 5(1), pp. 59-70.
BibTeX:
@article{Betaille2013,
  author = {Bétaille, David and Peyret, François and Ortiz, M. and Miquel, Stéphan and Fontenay, Leïla},
  title = {A new modelling based on urban trenches to improve GNSS positioning Quality of Service in cities},
  journal = {IEEE Intelligent Transportation Systems Magazine},
  year = {2013},
  volume = {5},
  number = {1},
  pages = {59-70}
}
Renaudin V, Susi M and Lachapelle G (2012), "Step Length Estimation Using Handheld Inertial Sensors", Sensors. Vol. 12(7), pp. 8507-8525.
BibTeX:
@article{Renaudin2012,
  author = {Renaudin, Valérie and Susi, Melania and Lachapelle, Gérard},
  title = {Step Length Estimation Using Handheld Inertial Sensors},
  journal = {Sensors},
  year = {2012},
  volume = {12},
  number = {7},
  pages = {8507-8525}
}
Toledo-Moreo R. R, Bétaille D and Peyret F (2010), "Lane level integrity provision for navigation and map-matching with GNSS, dead-reckoning and enhanced maps", IEEE Transactions on ITS., March, 2010. Vol. 11(1), pp. 100-112.
BibTeX:
@article{Toledo-Moreo2010,
  author = {Toledo-Moreo, R., Rafael and Bétaille, David and Peyret, François},
  title = {Lane level integrity provision for navigation and map-matching with GNSS, dead-reckoning and enhanced maps},
  journal = {IEEE Transactions on ITS},
  year = {2010},
  volume = {11},
  number = {1},
  pages = {100-112}
}
Bétaille D and Toledo-Moreo R (2010), "Creating enhanced maps for lane-level vehicle navigation", IEEE Transactions on ITS. Vol. 11(4), pp. 786-798.
BibTeX:
@article{Betaille2010a,
  author = {Bétaille, David and Toledo-Moreo, Rafael},
  title = {Creating enhanced maps for lane-level vehicle navigation},
  journal = {IEEE Transactions on ITS},
  year = {2010},
  volume = {11},
  number = {4},
  pages = {786-798}
}