\begin{thebibliography}{-------} \providecommand{\natexlab}[1]{#1} \bibitem[K{\"o}ping \em{et~al.}(2014)K{\"o}ping, Grzegorzek, and Deinzer]{Koeping14} K{\"o}ping, L.; Grzegorzek, M.; Deinzer, F. \newblock {Probabilistic Step and Turn Detection in Indoor Localisation}. \newblock Data Fusion and Target Tracking Conf., 2014. \bibitem[Bahl and Padmanabhan(2000)]{radar} Bahl, P.; Padmanabhan, V.N. \newblock RADAR: An In-Building RF-based User Location and Tracking System. \newblock Proc. of the 19th Annu. Joint Conf. of the IEEE Computer and Communications Societies, 2000, Vol.~2, pp. 775--784. \bibitem[Youssef and Agrawala(2005)]{horus} Youssef, M.; Agrawala, A. \newblock The Horus WLAN Location Determination System. \newblock Proc. of the 3rd Int. Conf. on Mobile Systems, Applications, and Services; ACM: New York, NY, USA, 2005; pp. 205--218. \bibitem[Roos \em{et~al.}(2002)Roos, Myllym\"{a}ki, Tirri, Misikangas, and Siev\"{a}nen]{ProbabilisticWlan} Roos, T.; Myllym\"{a}ki, P.; Tirri, H.; Misikangas, P.; Siev\"{a}nen, J. \newblock A Probabilistic Approach to WLAN User Location Estimation. \newblock {\em Int. Journal of Wireless Information Networks} {\bf 2002}, {\em 9},~155--164. \bibitem[Meng \em{et~al.}(2011)Meng, Xiao, Ni, and Xie]{secureAndRobust} Meng, W.; Xiao, W.; Ni, W.; Xie, L. \newblock Secure and Robust Wi-Fi Fingerprinting Indoor Localization. \newblock Indoor Positioning and Indoor Navigation (IPIN), Int. Conf. on, 2011, pp. 1--7. \bibitem[Palaniappan \em{et~al.}(2011)Palaniappan, Mirowski, Ho, Steck, Whiting, and MacDonald]{robotFingerprinting} Palaniappan, R.; Mirowski, P.; Ho, T.K.; Steck, H.; Whiting, P.; MacDonald, M. \newblock Autonomous RF Surveying Robot for Indoor Localization and Tracking. \newblock Indoor Positioning and Indoor Navigation (IPIN), Int. Conf. on, 2011. \bibitem[Polydorou and Capsalis(1994)]{ANewPathLossPrediction} Polydorou, D.S.; Capsalis, C.N. \newblock A new path loss prediction statistical model for indoor wireless communications. \newblock {\em Int. Journal of Infrared and Millimeter Waves} {\bf 1994}, {\em 15},~201--228. \bibitem[Rajkumar \em{et~al.}(1996)Rajkumar, Naylor, Feisullin, and Rogers]{PredictingRFCoverage} Rajkumar, A.; Naylor, B.F.; Feisullin, F.; Rogers, L. \newblock Predicting RF coverage in large environments using ray-beam tracing and partitioning tree represented geometry. \newblock {\em Wireless Networks} {\bf 1996}, {\em 2},~143--154. \bibitem[Erceg \em{et~al.}(2006)Erceg, Greenstein, Tjandra, Parkoff, Gupta, Kulic, Julius, and Bianchi]{empiricalPathLossModel} Erceg, V.; Greenstein, L.J.; Tjandra, S.Y.; Parkoff, S.R.; Gupta, A.; Kulic, B.; Julius, A.A.; Bianchi, R. \newblock An Empirically Based Path Loss Model for Wireless Channels in Suburban Environments. \newblock {\em IEEE Journal on Selected Areas in Communications} {\bf 2006}, {\em 17},~1205--1211. \bibitem[Chintalapudi \em{et~al.}(2010)Chintalapudi, Padmanabha~Iyer, and Padmanabhan]{WithoutThePain} Chintalapudi, K.; Padmanabha~Iyer, A.; Padmanabhan, V.N. \newblock Indoor Localization Without the Pain. \newblock Proc. of the 16th Annu. Int. Conf. on Mobile Computing and Networking; ACM: New York, NY, USA, 2010; pp. 173--184. \bibitem[Alzantot and Youssef(2012)]{crowdinside} Alzantot, M.; Youssef, M. \newblock CrowdInside: Automatic Construction of Indoor Floorplans. \newblock Proc. of the 20th Int. Conf. on Advances in Geographic Information Systems; ACM: New York, NY, USA, 2012; pp. 99--108. \bibitem[Li(2006)]{rssModelOpt1} Li, X. \newblock {RSS-Based Location Estimation with Unknown Pathloss Model}. \newblock {\em {IEEE Transactions on Wireless Communications}} {\bf 2006}, {\em 5},~3626--3633. \bibitem[Mazuelas \em{et~al.}(2009)Mazuelas, Bahillo, Lorenzo, Fernandez, Lago, Garcia, Blas, and Abril]{autoRssModel} Mazuelas, S.; Bahillo, A.; Lorenzo, R.M.; Fernandez, P.; Lago, F.A.; Garcia, E.; Blas, J.; Abril, E.J. \newblock {Robust Indoor Positioning Provided by Real-Time RSSI Values in Unmodified WLAN Networks}. \newblock {\em {IEEE Journal of Selected Topics in Signal Processing}} {\bf 2009}, {\em 3},~821--831. \bibitem[Chen \em{et~al.}(2015)Chen, Zou, Jiang, Zhu, Soh, and Xie]{indoorKalman} Chen, Z.; Zou, H.; Jiang, H.; Zhu, Q.; Soh, Y.C.; Xie, L. \newblock Fusion of WiFi, Smartphone Sensors and Landmarks Using the Kalman Filter for Indoor Localization. \newblock {\em Sensors} {\bf 2015}, {\em 15},~715--732. \bibitem[Li \em{et~al.}(2016)Li, Wang, Liu, Zhang, and Li]{indoorKalman2} Li, X.; Wang, J.; Liu, C.; Zhang, L.; Li, Z. \newblock Integrated WiFi/PDR/Smartphone Using an Adaptive System Noise Extended Kalman Filter Algorithm for Indoor Localization. \newblock {\em ISPRS International Journal of Geo-Information} {\bf 2016}, {\em 5}. \bibitem[Khanzada \em{et~al.}(2008)Khanzada, Ali, and Omar]{TimeDifferenceOfArrival1} Khanzada, T.J.S.; Ali, A.; Omar, A. \newblock Time Difference of Arrival estimation using super resolution algorithms to minimize Distance Measurement Error for indoor positioning systems. \newblock IEEE Int. Multitopic Conf., 2008, pp. 443--447. \bibitem[Deligiannis \em{et~al.}(2007)Deligiannis, Louvros, and Kotsopoulos]{TOAAOA} Deligiannis, N.; Louvros, S.; Kotsopoulos, S. \newblock Optimizing Location Positioning Using Hybrid TOA-AOA Techniques in Mobile Cellular Networks. \newblock Proc. of the 3rd Int. Conf. on Mobile Multimedia Communications; ICST: Brussels, Belgium, 2007. \bibitem[Ho and Lee(1964)]{particleFilter} Ho, Y.; Lee, R. \newblock {A Bayesian Approach to Problems in Stochastic Estimation and Control}. \newblock {\em {IEEE Transactions on Automatic Control}} {\bf 1964}, {\em 9},~333--339. \bibitem[Thrun \em{et~al.}(2005)Thrun, Burgard, and Fox]{robotics} Thrun, S.; Burgard, W.; Fox, D. \newblock {\em {Probabilistic Robotics}}; The MIT Press: Cambridge, MA, USA, 2005. \bibitem[Ebner \em{et~al.}(2016)Ebner, Fetzer, Grzegorzek, and Deinzer]{Ebner2016OPN} Ebner, F.; Fetzer, T.; Grzegorzek, M.; Deinzer, F. \newblock {On Prior Navigation Knowledge in Multi Sensor Indoor Localisation}. \newblock International Conference on Information Fusion (FUSION 2016); IEEE: Heidelberg, Germany, 2016. \bibitem[Fetzer \em{et~al.}(2016)Fetzer, Ebner, K{\"o}ping, Grzegorzek, and Deinzer]{Fetzer2016OMC} Fetzer, T.; Ebner, F.; K{\"o}ping, L.; Grzegorzek, M.; Deinzer, F. \newblock {On Monte Carlo Smoothing in Multi Sensor Indoor Localisation}. \newblock Indoor Positioning and Indoor Navigation (IPIN), Int. Conf. on; IEEE: Madrid, Spain, 2016. \bibitem[K\"{o}ping \em{et~al.}(2014)K\"{o}ping, Grzegorzek, and Deinzer]{Koeping14-PSA} K\"{o}ping, L.; Grzegorzek, M.; Deinzer, F. \newblock {Probabilistic Step and Turn Detection in Indoor Localization}. \newblock Conf. on Data Fusion and Target Tracking 2014: Algorithms and Applications (DFTT 2014); , 2014; pp. 1--7. \bibitem[Friis(1971)]{IntroductionToRadio} Friis, H.T. \newblock Introduction to radio and radio antennas. \newblock {\em IEEE Spectrum} {\bf 1971}, {\em 8},~55--61. \bibitem[Rappaport(2002)]{WirelessCommunications} Rappaport, T.S. \newblock {\em Wireless Communications: Principles and Practice}; Prentice Hall {PTR}: Upper Saddle River, NJ, USA, 2002. \bibitem[Seidel and Rappaport(1992)]{PathLossPredictionModelsForIndoor} Seidel, S.Y.; Rappaport, T.S. \newblock 914 {MHz} Path Loss Prediction Models for Indoor Wireless Communications in Multifloored Buildings. \newblock {\em IEEE Transactions on Antennas and Propagation} {\bf 1992}, {\em 40},~207--217. \bibitem[Torres-Sospedra \em{et~al.}(2017)Torres-Sospedra, Jim{\'e}nez, Knauth, Moreira, Beer, Fetzer, Ta, Montoliu, Seco, Mendoza-Silva, Belmonte, Koukofikis, Nicolau, Costa, Meneses, Ebner, Deinzer, Vaufreydaz, Dao, and Castelli]{competition2016} Torres-Sospedra, J.; Jim{\'e}nez, A.; Knauth, S.; Moreira, A.; Beer, Y.K.; Fetzer, T.; Ta, V.C.; Montoliu, R.M.; Seco, F.; Mendoza-Silva, G.M.; Belmonte, O.; Koukofikis, A.; Nicolau, M.J.; Costa, A.; Meneses, F.M.; Ebner, F.; Deinzer, F.; Vaufreydaz, D.; Dao, T.K.; Castelli, E. \newblock {The Smartphone-Based Offline Indoor Location Competition at IPIN 2016: Analysis and Future Work}. \newblock {\em {Sensors}} {\bf 2017}, {\em 557},~17. \bibitem[Richalot \em{et~al.}(2000)Richalot, Bonilla, Wong, Fouad-Hanna, Baudrand, and Wiart]{ElectromagneticPropagation} Richalot, E.; Bonilla, M.; Wong, M.F.; Fouad-Hanna, V.; Baudrand, H.; Wiart, J. \newblock Electromagnetic Propagation into Reinforced-Concrete Walls. \newblock {\em IEEE Transactions on Microwave Theory and Techniques} {\bf 2000}, {\em 48},~357--366. \bibitem[Ebner \em{et~al.}(2015)Ebner, Fetzer, K{\"o}ping, Grzegorzek, and Deinzer]{Ebner-15} Ebner, F.; Fetzer, T.; K{\"o}ping, L.; Grzegorzek, M.; Deinzer, F. \newblock {Multi Sensor 3D Indoor Localisation}. \newblock Indoor Positioning and Indoor Navigation (IPIN), Int. Conf. on, 2015, pp. 1--10. \bibitem[Mofarreh-Bonab and Ghorashi(2013)]{gradientDescent} Mofarreh-Bonab, M.; Ghorashi, S.A. \newblock A low complexity and high speed gradient descent based secure localization in Wireless Sensor Networks. \newblock 3th Int. eConf. on Computer and Knowledge Engineering (ICCKE), 2013, pp. 300--303. \bibitem[Powell(1962)]{downhillSimplex1} Powell, M.J.D. \newblock An iterative method for finding stationary values of a function of several variables. \newblock {\em The Computer Journal} {\bf 1962}, {\em 5},~147--151. \bibitem[Nelder and Mead(1965)]{downhillSimplex2} Nelder, J.A.; Mead, R. \newblock A Simplex Method for Function Minimization. \newblock {\em The Computer Journal} {\bf 1965}, {\em 7},~308--313. \bibitem[Goldberg(1989)]{goldberg89} Goldberg, D.E. \newblock {\em Genetic Algorithms in Search, Optimization, and Machine Learning}; Addison-Wesley, 1989. \bibitem[Kirkpatrick \em{et~al.}(1983)Kirkpatrick, Gelatt, and Vecchi]{Kirkpatrick83optimizationby} Kirkpatrick, S.; Gelatt, C.D.; Vecchi, M.P. \newblock Optimization by simulated annealing. \newblock {\em SCIENCE} {\bf 1983}, {\em 220},~671--680. \bibitem[Fetzer \em{et~al.}(2017, accepted)Fetzer, Ebner, Deinzer, and Grzegorzek]{Fetzer-17} Fetzer, T.; Ebner, F.; Deinzer, F.; Grzegorzek, M. \newblock {Recovering from Sample Impoverishment in Context of Indoor Localisation}. \newblock 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017, accepted. \bibitem[Jung \em{et~al.}(2012)Jung, Bell, Petrenko, and Sizo]{PotentialRisks} Jung, W.R.; Bell, S.; Petrenko, A.; Sizo, A. \newblock Potential Risks of WiFi-based Indoor Positioning and Progress on Improving Localization Functionality. \newblock Proc. of the Fourth ACM SIGSPATIAL Int. Workshop on Indoor Spatial Awareness; ACM: New York, NY, USA, 2012; pp. 13--20. \end{thebibliography}