@article{murata2019smartphone,
  title={Smartphone-based localization for blind navigation in building-scale indoor environments},
  author={Murata, Masayuki and {Ahmetovic},{Dragan} and Sato, Daisuke and Takagi, Hironobu and Kitani, Kris M and Asakawa, Chieko},
  journal={Pervasive and Mobile Computing},
  year={2019},
  issn={1574-1192},
  doi="10.1016/j.pmcj.2019.04.003",
  publisher={Elsevier}
}