ON
FIFTEENTH INTERNATIONALCONFERENCE ON
IPIN-WCAL 2025 Copyright © 2025 for the individual papers by the papers’ authors.
Copyright © 2025 for the volume as a collection by its editors.
This volume and its papers are published under the Creative Commons License Attribution 4.0 International (CC BY 4.0).
Faculty of Information Technology and Communication Sciences Tampere University Tampere, Finland
Lucie.Klus@tuni.fi
Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Hung Hom, Kowloon, Hong Kong SAR gh.zhang@polyu.edu.hk
FIFTEENTH INTERNATIONAL CONFERENCE ON
The 15th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2025) was held in Tampere, Finland, on September 15-18, 2025. This proceeding contains the papers presented at the Workshop for Computing & Advanced Localization, colocated with IPIN 2025.
First held in Zurich, Switzerland in 2010, IPIN is a unique event dedicated to indoor positioning, its applications and development. The last ten years have seen enormous technical progress in this field, yet, in contrast with outdoors well-established GNSS solutions, no technology still exists cheap and accurate enough for the general market. The potential applications of indoor localisation are allencompassing, from home to wide public areas, from IoT and personal devices to surveillance and crowd behaviour applications, from casual use to mission-critical systems.
The conference received 107 regular papers and 38 WCAL papers with authors from universities, research institutes and renowned companies in 24 different countries across the 5 continents. Each paper was reviewed by at least two members of the Technical Program Committee of the Conference. 59 out of 107 Regular Papers were accepted and submitted to the IEEE Xplore Digital Library, while 33 were accepted as WCAL papers and submitted to CEUR Workshop Proceedings. Regular Papers and WCAL papers were presented in dedicated sessions.
IPIN 2025 hosted 1 Workshop, 2 Tutorials, 4 Keynotes, 18 Parallel Sessions, including Machine Learning, Acoustic and Ultrasound systems, Visual and Optical System, Inertial Measurement Units, Radio Signal Processing, UWB, BLE and Wi-Fi, etc. There were 147 registered on-site attendees at this onsite conference.
The conference also hosted the 12th International Indoor Positioning and Navigation Competition from September 8 to October 10 for offsite participants and from October 13 to 14 for onsite participants. The competition included six tracks, such as smartphone positioning, foot-mounted IMU positioning, smartphone with navigation robot, smartphone-onvehicle positioning and 5G CIR + IMU, attracting 13 teams from around the world. The global synchronous online competition mode, first adopted in 2022, was used again, showcasing the highest level of the current international indoor positioning and navigation field. Additionally, two onsite competition tracks were held at Tampere University, City Centre Campus.
IPIN 2025 awarded 2 best conference papers, 3 workshop papers, 3 best posters, and 5 competition track winners. The best conference paper awardees are given the opportunity to send a technically extended version to the IEEE Journal of Indoor and Seamless Positioning and Navigation (J-ISPIN). The journal is currently the only international academic journal focusing on the field of indoor navigation and positioning.
Thanks to all members of the IPIN 2025 Technical Program Committee for their effort in the review process that was fundamental for maintaining the high scientific level of the conference. Thanks to all members of Organizing Committee for their hard work in making the meeting go on smoothly. Thanks to all the researchers who supported this event by submitting their work and actively participating in it. Thanks to all participants for their efforts to make IPIN 2025 a success. Lucie Klus, Tampere University, Finland Guohao Zhang, The Hong Kong Polytechnic University, Hong Kong
Technical Programme Committee • Amod Agrawal, Amazon Lab126, USA • Teodoro Aguilera, University of Extremadura, Spain • Iness Ahriz, Le CNAM, France • Shiyu Bai, The Hong Kong Polytechnic University, China • Paolo Barsocchi, ISTI-CNR Institute, Pisa, Italy • Peter Brida, University of Žilina, Slovakia • Stefano Chessa, University of Pisa, Italy • Tianxing Chu, Texas A&M University Corpus Christi, USA • Antonino Crivello, ISTI-CNR Institute, Pisa, Italy • Álvaro De La Llana Calvo, University of Alcala, Spain • Frank Deinzer, Technical University of Applied Sciences
Würzburg/Schweinfurt, Germany • Tobias Feigl, Fraunhofer IIS, Germany • Juan Jesús García, University of Alcala, Spain • Álvaro Hernández Alonso, University of Alcala, Spain • Ryosuke Ichikari, National Institute of Advanced Industrial
Science and Technology (AIST), Japan • Ana Jiménez, University of Alcala, Spain • Roman Klus, Tampere University, Finland • Takeshi Kurata, National Institute of Advanced Industrial
Science and Technology (AIST), Japan • Filipe Meneses, University of Minho, Portugal • Thibaud Michel, Wemap, France • Raúl Montoliu, Jaume I University, Spain • Philipp Muller, Tampere University, Finland • Ho-Fung Ng, The Hong Kong Polytechnic University, China • Kyle O'Keefe, University of Calgary, Canada • Filippo Palumbo , ISTI-CNR Institute, Pisa, Italy • Antoni Pérez Navarro, Open University of Catalonia, Spain • Valérie Renaudin, Université Gustave Eiffel, France • Nel Samama, Telecom Paris Sud, France • Emilio Sansano, Jaume I University, Spain • Luca Santoro, IMDEA Networks, Leganés, Madrid, Spain • Fernando Seco Granja, Spanish National Research
Council (CSIC), Spain • Ivo Silva, University of Minho, Portugal • Gyula Simon, Óbuda University, Hungary • Joaquín Torres Sospedra, University of Valencia, Spain • Dongyan Wei, Aerospace Information Research institute，
Chinese Academy of Sciences,(AIR-CAS), China • Penghui Xu, The Hong Kong Polytechnic University, China • Hongzhou Yang, University of Calgary, Canada • Zhetao Zhang, Hohai University, China • Wenchao Zhang, Aerospace Inform. Research instL，
Chinese Academy of Sciences, (AIR-CAS), China • Shuai Zhang, Chongqing Jiaotong University, China • Ni Zhu, Université Gustave Eiffel, France Design of Signal Quality Test Module for Ground Verification System of Satellite Based
Inone Joo, Cheon Sig Sin, Jae Hwan Bong and Seongkyun Jeong A Structured Survey of Client-Based and Client-Assisted Localization for Underground
Benny Platte, Marc Ritter and Christian Roschke
Zhen LYU and Guohao Zhang Studies: A Managed Solution for Standardized, Scalable, Privacy-First Smartphone Sensor Data
Kelvin Tsz Hei Choi Adaptive Dynamic Adjustment Kalman Filter (ADA-KF) for Robust Clock Synchronization in High
Xiao Jiang, Zhongliang Deng, Songfeng Yang and Mingyang Ma Particle Filter-Based Indoor Localization with Learning based PDR and Monocular Depth-Aided BIM
Pravin Kumar Jaisawal, Youness Dehbi and Harald Sternberg
Tommy Moisan, Hanyuan FU, Valerie Renaudin and Mohamad issam SAYYAF 23
Johann Nikolai Hark, Bernd Schaeufele and Ilja Radusch Smartphone-Based Attitude-Unconstrained Pedestrian Dead Reckoning System with Positioning
Lingming Yu, Constantina Isaia, Wenyu Cai and Michalis Michaelides OAM: Object-Aware Memory and Vision-Language Models for Zero-Shot Object Navigation Jiahui Wang, Wen Liu and ZhongLiang Deng Movement Direction Estimation for Smartwatches in Diverse Exercise via Inertial-GNSS Fusion Jae Hong Lee and Chan Gook Park FCI-AEKF: A Robust GNSS/5G Hybrid Positioning Framework with Dynamic Motion and Noise
wang JianQing, Zhongliang Deng, Fen Qiu, Mingyang Ma and Shan Xu
Muhammad Ammad, Paul Schwarzbach, Michael Schultz and Oliver Michler Stride length estimation using Ultra-Wide Band (UWB) sensors aided by Inertial sensors Ashwani Kumar, Kourosh Khoshelham and Salil Goel ABeL: A Customizable Open-Source Framework for Evaluating 3D Terrestrial Positioning
Simon Huh, Tristan Itschner and Niclas Zeller Comparative Evaluation of Sensor-Based PDR and Visual SLAM for Smartphone-Based Indoor
Philipp Fiedler 6-DoF Optical Positioning System with RSS-AoA Measurements and Harmony Search Refinement Elena Aparicio-Esteve, David Molto, Alvaro Hernandez and Jesus Ureña
Olha K. Pohudina, Antonietta Sivo, Nicola Cordeschi, Luigi Alfredo Grieco and Michele Lagioia Dense Ground Truth for Indoor Localization Competitions: Foot-mounted IMU-Enhanced
Antonio R. Jimenez Ruiz, Joaquín Torres-Sospedra and Luisa Ruiz-Ruiz
Hugo Renaud and Fernando J. Alvarez High-Precision Camera-enabled Visible Light Positioning System with Enhanced LED Recognition Bugao Liu, Dingyu Ge, Zhigang Ma, Xiaodong Liu, Zhenghai Wang and Xun Zhang Graphic Optimization Method of Crowdsourcing Trajectories Using Geomagnetic Field and Map
Zilin Hong, Wen Li, Yupeng Xia, Dongyan Wei and Ge Shen A Modular Prompting Framework for AI-Guided Unobtrusive User Engagement in Crowd-Powered
Ahmed Mansour Effective indoor navigation in a metro system and dependency on the positioning precision Mikołaj Piotr Domagalski and Jerzy Jastrzębiec-Jankowski
Tim Ulsamer, Christian Mazur and Stefan Knauth
Jun Yu, Yitian Yang, Mushu Li and Vinod Namboodiri
Miroslav Opiela
Behzod Mukhiddinov, Di He, Wenxian Yu Accurate and Precise Acoustic Positioning Using Simultaneous Transmission of Phase-shifted
Masanari Nakamura, Konatsu Abe, Hiromichi Hashizume, Masanori Sugimoto
Constantina Isaia, Michalis P. Michaelides
Miroslav Hutár, Alejandro Gil-Martinez, José Antonio Lopez-Pastor, Peter Brida, José L. Gómez Tornero