Abstract
While WiFi-based indoor localization is attractive, there are many indoor places without WiFi coverage with a strong demand for localization capability. This paper describes a system and associated algorithms to address the indoor vehicle localization problem without the installation of additional infrastructure. In this paper, we propose VeLoc, which utilizes the sensor data of smartphones in the vehicle together with the floor map of the parking structure to track the vehicle in real time. VeLoc simultaneously harnesses constraints imposed by the map and environment sensing. All these cues are codified into a novel augmented particle filtering framework to estimate the position of the vehicle. Experimental results show that VeLoc performs well when even the initial position and the initial heading direction of the vehicle are completely unknown.