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The interpretation of uncertain sensor streams for localization is usually considered in the context of a robot. Increasingly, however, portable consumer electronic devices, such as smartphones, are equipped with sensors including WiFi radios, cameras, and inertial measurement units (IMUs). Many tasks typically associated with robots, such as localization, would be valuable to perform on such devices. In this paper, we present an approach for indoor localization exclusively using the low-costdoi:10.1109/iros.2010.5651783 dblp:conf/iros/QuigleySCT10 fatcat:5l5eksfkufamrej5mfyklbizhm