IPIN 2017 : Indoor Positioning and Indoor Navigation Conference


IPIN 2017 Competition

16-17 September 2017 - Sapporo, Japan

IPIN is pleased to announce the IPIN 2017 Indoor Localization Competition, to be held at the IPIN 2017 Conference in Sapporo (Japan). The competition is aimed at bringing together the academic and industrial research communities for evaluating different approaches and envisioning new research opportunities for the indoor localization area, where no accepted standards exist yet.

IPIN 2017 Indoor Localization Competition will consist of several tracks, including on-site and off-site contests. Results will be presented during dedicated sessions of the IPIN conference and prizes will be awarded to the winners.

The competition builds on the experience of previous competitions based on EvAAL framework, ensuring experience, solidity and a well-founded scientific method (http://evaal.aaloa.org).

Competition Tracks

  • Track 1: Smartphone-based
  • Track 2: Pedestrian dead reckoning
  • Track 3: Smartphone-based (off-site)
  • Track 4: PDR for warehouse picking (off-site)
Track 1: "Smartphone-based"

A pedestrian walking in multi-floor buildings carries a smartphone which runs the competing system, without any external aid, using the sensors available on the smartphones to identify the user's position in real time.

Prize: 150,000 JPY awarded by KICS (KR)

Track 1 result:

nameaffiliation3/4 error
Chan Gook ParkSeoul National Univ.(KR)8.8m
Hee-dong SonYeungnam Univ.(KR)16.8m
Yizhen WangXiamen Univ.(CN)30.8m
Khanh Nguyen-HuuHallym Univ.(KR)---

Track 2: "Pedestrian dead reckoning"

The competing system uses MEMS sensors (inertial, compass and altimeter pressure sensors) mounted on the body to localize a pedestrian walking in multi-floor buildings; control and monitoring devices such as a notebook are carried by the user.

Prize: 150,000 JPY awarded by ETRI (KR)

Track 2 result:

nameaffiliation3/4 error
Chuanhua LuKyushu Univ.(JP)2.04m
Yu LiuTianjin Univ.(CN)2.13m
C.-I. ChesneauSysnav (FR)4.48m

Track 3: "Smartphone-based (off-site)"

The goal is to localize a pedestrian walking under realistic conditions in multi-floor buildings using data provided by a conventional smartphone (WiFi, inertial, magnetic, GPS, pressure, light, ...). Competitors calibrate their algorithms in advance using a ground truth reference database, and compete using new unreferenced data.

Prize: 150,000 JPY awarded by Topcon

Track 3 result:

nameaffiliation3/4 error
A. MoreiraUniv. of Minho (PT)3.48m
T. LungenstrassArara DS (CL)3.53m
Lu Wei ChungYai Team (TW)4.41m
S. KnauthHFTS (GE)4.45m
R.S. RanasingheTechnology, Sydney (AU)---
T.V. ChuongINRIA and Univ. Hani (RR,VT)---

Track 4: "PDR for warehouse picking (off-site)"

Data from inertial, pressure and magnetic sensors and BLE data from a smartphone plus picking records from a warehouse management system (WMS) are collected during 3 hours of actual picking work by 8 people carrying a smartphone on their back in a warehouse, with actions including walking, picking and carrying. Competitors obtain sample data and test data to calibrate their algorithms, and compete using separate actual data. For the details please read the guidance pages, or send your questions to pdr-warehouse2017@aist.go.jp.

Prize: 150,000 JPY or more worth prize awarded by PDR benchmark standardization committee (JP)

Track 1 result:

nameaffiliationComprehensive Evalation
Yoshihiro ItoKDDI R&D Lab. Inc.(JP)91.2
Kataro HananouchiNagoya Univ.(JP)88.9
Lingxiang ZhengXiamen Univ.(CN)78.4
Ho-Ti ChengYuan Ze Univ.(TW)77.9
Youngjee LeeETRI (KR)65.7


Team 1 Pedestrian Dead Reckoning-based Indoor Navigation using a Routing Graph extracted from Floor Plans
Larissa Zech, Niels Groth, Simon Schmitt, Katinka Wolter, Freie Universität Berlin, AG Computer Systems & TelematicsBerlin, Germany
Team 2 System for Carers to Track Elderly People in Visits to a Crowded Shopping Mall
Ravindra Ranasinghe, Gamini Dissanayake, Asok Perera, Centre of Autonomous Systems at University of Technology, Sydney, Australia
Team 3 TBC
Hee-dong Son, Muhammad Usman Ail, Mingyu Kang, Yeongrae Jo, Chanseok Lee, Seunggu Jeong, Yeungnam University, Korea
Team 4 Pedestrian Dead Reckoning Based Indoor Navigation Using Smartphone
Soyoung Park, Hojin Ju, Jae Hong Lee, Chan Gook Park, Seoul National University, South Korea
Team 5 An Indoor Positioning System Using Pedestrian Dead Reckoning with WiFi and Map-matching Aided
Khanh Nguyen-Huu, KyungHo Lee, Seon-Woo Lee, Department of Electronic Engineering, Hallym University, Republic of Korea
Team 6 A Smartphone Based Hand-Held Indoor Positioning System
Lingxiang Zheng, Yizhen Wang, Ao Peng, Zhenyang Wu, Dihong Wu, Biyu Tang, Hai Lu, Haibin Shi, Huiru Zheng, School of Information Science and Engineering, Xiamen University, Xiamen, China
Team 7 BeeTrack: A Real-time Indoor Tracking System
Xiong Fang, Haoxuan Ye, Dezhi Zhang, Guoping Qiu, Beemap Technology Limited, University of Nottingham & Shenzhen University, China
Team 8 Navix: Smartphone Based Hybrid Indoor Positioning
J. C. Aguilar Herrera, A. Ramos, Shirel Bolanos, Navix Indoor Navigation, Santiago de Queretaro, Mexico
Team 1 A Foot-mounted PDR System Based On IMU/EKF+HMM+ZUPT+ZARU+HDR+Compass Algorithm
Wenchao Zhang, Xianghong Li, University of Chinese Academy of Sciences, Academy of Opto-electronics, Chinese Academy of Sciences, Beijing, China, Dongyan Wei, Xinchun Ji, Academy of Opto-electronics, Chinese Academy of Sciences, Beijing, China
Team 2 Pedestrian Dead Reckoning System using Quasi-static Magnetic Field Detection
Yu Liu, Liqiang Zhang, and Kai Guo, Tianjin University, Tianjin, China
Team 3 FootSLAM
Susanna Kaiser, Estefania Munoz Diaz, Dina Bousdar Ahmed, German Aerospace Center (DLR), Germany
Team 4 EKF-based Magneto-Inertial Dead-Reckoning Navigation System
Charles-Ivan Chesneau, Sysnav, Univ. Grenoble Alpes, Mathieu Hillion, Sysnav, Sysnav, Christophe Prieur, Univ. Grenoble Alpes, France
Team 5 Stride detection for pedestrian trajectory reconstruction: a machine learning approach based on geometric patterns
Bertrand Beaufi ls, Marc Grelet, Sysnav, Frédéric Chazal, Inria Saclay team DataShape, and Bertrand Michel, Centrale Nantes Informatic and Mathematics Department, France
Team 6 Research On Multiple Gait and 3D Indoor Positioning System
Lingxiang Zheng, Rongxin Wang, Dihong Wu, Ao Peng, Dihong Wu, Biyu Tang, Hai Lu, Haibin Shi, Xiamen University, China, Huiru Zheng, University of Ulster, Ireland
Team 7 A PDR System using IMU based Gait Tracking and Map Matching
Chuanhua Lu, Hideaki Uchiyama, Diego Thomas and Rin-ichiro Taniguchi, Kyushu University, Japan
Team 8 Inertial Pocket Localization: System Overview
Estefania Munoz Diaz, Dina Bousdar Ahmed and Susanna Kaiser, German Aerospace Center (DLR), Germany
Team 9 Foot-mounted PDR
Xiaoyong Luo, GLONAVIN, China
Team 1 UMinho Team (Team Name)
Adriano Moreira, António Costa, Filipe Meneses, Maria João Nicolau, Universidade do Minho & Centro de Computaçao Gráfi ca, Portugal
Team 2 Smartphone PDR Positioning in Large Environments Employing WiFi, Particle Filter, and Backward Optimization
Stefan Knauth, Stuttgart Technology University of Applied Sciences, Germany
Team 3 Marauder’s Map team (Team Name)
Ta Viet Cuong, Dominique Vaufreydaz, Dao Trung Kien, Eric Castelli, University of Grenoble-Alpes, Inria, France, Hanoi University of Science and Technology, Vietnam
Team 4 AraraIPS (Team Name)
Joaquín Farina, Tomás Lungenstrass, Juan Pablo Morales, AraraDS, Chile
Team 5 University of Technology Sydney Team (Team Name)
Ravindra Ranasinghe, Gamini Dissanayake and Asok Perera, Centre of Autonomous Systems at University of Technology Sydney, Australia
Team 6 YAI team (Team Name)
Wei-Chung Lu, Wen-Chen Lu, Ho-Ti Cheng, Shi-Shen Yang, Shih-Hau Fang, Ying-Ren Chien and Yu Tsao, Yuan Ze University, National Ilan University, Academia Sinica Research Center for Information Technology Innovation, Taiwan
Team 1 A Multi-Sensor Fusion Technique for Pedestrian Localization in a Warehouse
Youngjae Lee, Haemin Lee, Jinhong Kim, Dongyeop, Kang, Kiyoung Moon, Daegu-Gyeongbuk Research Institute, ETRI, Seong Yun Cho, Dept. of Robot Engineering, Kyeongil University, Korea
Team 2 No PDR, No future
Yoshihiro Ito, Hisashi Hoshi, KDDI Research Inc., Japan
Team 3 A Smartphone Based Indoor Positioning System
Lingxiang Zheng, Yizhen Wang, Ao Peng, Zhenyang Wu, Dihong Wu, Biyu Tang, Hai Lu, Haibin Shi, School of Information Science and Engineering, Xiamen University, China, Huiru Zheng, School of Computing and Mathematics, University of Ulster, Ireland
Team 4 Trajectory Estimation Using PDR and Simulation of Human-Like Movement
Kotaro Hananouchi, Junto Nozaki, Kenta Urano, Graduate School of Engineering, Nagoya University, Kei Hiroi, Nobuo Kawaguchi, Institutes of Innovation for Future Society, Nagoya University, Japan
Team 5 Moving Trajectory Estimation Based on Sensors
Ho-Ti Cheng, Wen-Chen Lu, Chia-Min Lin, Yu-Shen Lai, Yun-Yeh, Huan-Wei Liu, Shih-Hau Fang, Department of Electrical Engineering / Innovation Center for Big Data and Digital Convergence, Yuan Ze University, Ying-Ren Chien, Department of Electrical Engineering, National Ilan University, Yu Tsao, Research Center for Information Technology Innovation , Academia Sinica, Taiwan

After-competition Presentations

http://evaal.aaloa.org/2017/presentations (Evaal site)

Technical Competition Details

The evaluation criteria for the competition, restrictions on the accepted technologies, technical rules to follow and a description of the benchmarks are detailed in the technical annexes to this call. Announcements and possible refinements of the annexes, also based on candidate competitors' comments, will be timely distributed on the competition discussion mailing list <contest@evaal.aaloa.org> and will appear on the IPIN web site.

Maps of the competition area and all the relative information will be provided by the end of April.

All the data gathered by the competition committee during the competition, including data produced by competing systems, will be published after the competition for the purpose of research and comparison. Winners of the competition will be announced during the conference.

Competitor Admission Process

A "competitor" can be any individual or group of individuals working as a single team, associated to a single or a number of organizations, who wants to participate in one or several tracks.

Competitors apply for admission to the competition tracks by providing a short (2 to 4 pages) "technical description" of their localization system, including a description of the algorithms and protocols used. The technical description must be sent by e-mail to the chairs of the intended track. Track chairs will accept or refuse the application in a short time, based on technical feasibility and logistic constraints.

After acceptance of the competitor's technical description, one member of the competing team is required to register to the IPIN conference, specifying that the registration is linked to a competition track. Full registration to the conference covers participation in the competition process (allocated time, support and space) and the submission of a paper describing the system.

Competitors are required to make an oral presentation of their system during a dedicated session at the IPIN conference. Additionally, competitor teams are invited, but not required, to submit a paper to the conference. The paper will follow the same peer review and publishing process as all the other papers submitted to IPIN. After conference, competitors who are authors of an accepted paper describing a competing system will be allowed a short time to update it.

Competitors who wish to test their system, but do not want to be included in the public rankings and compared with other competitors, can ask for that special condition in advance to the chairs of the relevant track.

Special note for the submission deadline of competition-related papers

Note that, even after the 15 July deadline has expired, individual tracks may still be able to accept further submissions: please contact the chairs of the track you are interested in if you plan to submit after the deadline

Referece coodinates

Longitudes & Latitudes of Competition Tracks 1 and 2 site. All coorinates are in World Geodetic System (WGS).


Laser survey data

The 3D laser-scanned point clouds of Hokkaido University Conference Hall (competition site of the Tracks 1 and 2) can be downloaded from the following link.

Download link (1.1GB)*

* username: clouds   password: 2017competition

3D point clouds (.pcd), data manual (.pdf), and walk thorugh video (.mp4) have been compressed into the zip file.

The data cannot be redistributed. For IPIN2017 competition use only.

Important dates

Technical description: 15 July 2017, AoE*
Notification of admission: shortly after request
Paper submission: 30 July 2017**, AoE
Result submission (Tracks 3&4): 8 September 2017, AoE
System setup (Tracks 1&2): 16-17 September 2017
Competition (Tracks 1&2): 17 September 2017
IPIN conference: 18-21 September 2017, AoE

* AoE (Anyware on Earth) timezone is 12 hours behind UTC (GMT).

** Competitors who are authors of an accepted paper will be allowed some time after the conference for updating it before publication.

Organising Committee

General Chairs

Francesco Potortì (CNR, Italy) <Potorti@isti.cnr.it>
Nobuo Kawaguchi (Nagoya University, Japan) <kawaguti@nagoya-u.jp>
Sangjoon Park (ETRI, South Korea) <sangjoon@etri.re.kr>

Track 1 chairs:

Filippo Palumbo (CNR, IT)
Antonino Crivello (CNR, IT)

Track 2 chairs:

Soyeon Lee (ETRI, KR)
Jaehyun Lim (ETRI, KR)

Track 3 chairs:

Joaquín Torres (Universitat Castellon, ES)
Antonio R. Jimenez (CSIC/UPM, ES)

Track 4 chairs:

Masakatsu Kourogi (AIST, JP)
Ryosuke Ichikari (AIST, JP)