A. Geo and .. Viewer-world, 91 5.2.1 Positioning Features in the OpenGL Scene 92 5.2.2 Orientation: from Sensors to Camera stream: Field Of View and Aspect Ratio, 95 5.2.4 Scheduling and Updating the OpenGL Scene . . . . . . . . . . . . . . 96

.. Ar-browser-framework, 97 5.3.1 Mapbox to handle Indoor Vector Maps, AR Browser Applications, vol.101

J. L. Crassidis and F. L. Markley, Unscented Filtering for Spacecraft Attitude Estimation, Journal of Guidance, Control, and Dynamics, vol.37, issue.1, pp.536-542, 2003.
DOI : 10.1002/0471221546.ch7

. Crassidis, Survey of Nonlinear Attitude Estimation Methods, Journal of Guidance, Control, and Dynamics, vol.48, issue.2, pp.12-28, 2007.
DOI : 10.2514/4.861550

. Curran, An evaluation of indoor location determination technologies, Journal of Location Based Services, vol.5, issue.2, pp.61-78, 2011.
DOI : 10.1049/ip-com:20050078

J. Diebel, Representing attitude: Euler angles, unit quaternions, and rotation vectors, Matrix, vol.58, pp.15-16, 2006.

. Dünser, Exploring the use of handheld AR for outdoor navigation, Computers & Graphics, vol.36, issue.8, pp.361084-1095, 2012.
DOI : 10.1016/j.cag.2012.10.001

. Dünser, A survey of evaluation techniques used in augmented reality studies, ACM SIGGRAPH ASIA 2008 courses on, SIGGRAPH Asia '08, 2008.
DOI : 10.1145/1508044.1508049

. Dünser, Exploring the use of handheld AR for outdoor navigation, Computers & Graphics, vol.36, issue.8, pp.361084-1095, 2012.
DOI : 10.1016/j.cag.2012.10.001

. Euston, A complementary filter for attitude estimation of a fixed-wing UAV, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.340-345, 2008.
DOI : 10.1109/IROS.2008.4650766

R. Fairhurst, Tilemaker. https://github, 2015.

H. Faragher, R. Faragher, and R. Harle, An analysis of the accuracy of bluetooth low energy for indoor positioning applications, Proceedings of the 27th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+'14), pp.201-210, 2014.

. Feiner, A touring machine: Prototyping 3d mobile augmented reality systems for exploring the urban environment, Wearable Computers Digest of Papers., First International Symposium on, pp.74-81, 1997.

H. Fourati, Heterogeneous data fusion algorithm for pedestrian navigation via foot-mounted inertial measurement unit and complementary filter. Instrumentation and Measurement, IEEE Transactions on, vol.64, issue.1, pp.221-229, 2015.
DOI : 10.1109/tim.2014.2335912

URL : https://hal.archives-ouvertes.fr/hal-00999073

. Fourati, A Nonlinear Filtering Approach for the Attitude and Dynamic Body Acceleration Estimation Based on Inertial and Magnetic Sensors: Bio-Logging Application, IEEE Sensors Journal, vol.11, issue.1, pp.11233-244, 2011.
DOI : 10.1109/JSEN.2010.2053353

URL : https://hal.archives-ouvertes.fr/hal-00520549

. Frosio, Autocalibration of MEMS accelerometers, Advanced Mechatronics and MEMS Devices, pp.53-88, 2013.
DOI : 10.1109/tim.2008.2006137

. Geiger, Location-based mobile augmented reality applications: Challenges, examples, lessons learned, Int'l Conference on Web Information Systems and Technologies, Special Session on Business Apps, 2014.

. Guimarães, A motion tracking solution for indoor localization using smartphones, 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp.1-8, 2016.
DOI : 10.1109/IPIN.2016.7743680

T. Hansson, A. Hansson, and L. Tufvesson, Using Sensor Equipped Smartphones to Localize WiFi Access Points, 2011.

. Harada, Portable absolute orientation estimation device with wireless network under accelerated situation, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.1412-1417, 2004.
DOI : 10.1109/ROBOT.2004.1308022

R. Harle, A Survey of Indoor Inertial Positioning Systems for Pedestrians, IEEE Communications Surveys & Tutorials, vol.15, issue.3, pp.1281-1293, 2013.
DOI : 10.1109/SURV.2012.121912.00075

S. He and S. G. Chan, Wi-Fi Fingerprint-Based Indoor Positioning: Recent Advances and Comparisons, IEEE Communications Surveys & Tutorials, vol.18, issue.1, pp.466-490, 2016.
DOI : 10.1109/COMST.2015.2464084

S. Heinen, Droidar. https, 2014.

H. Hou, Modeling inertial sensors errors using Allan variance, 2004.

D. Q. Huynh, Metrics for 3D Rotations: Comparison and Analysis, Journal of Mathematical Imaging and Vision, vol.19, issue.3, pp.155-164, 2009.
DOI : 10.1115/1.3267382

. Ichikari, Reference Framework on vSRT-method Benchmarking for MAR, ICAT-EGVE 2017 -International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual Environments, 2017.

. Jahn, Comparison and evaluation of acceleration based step length estimators for handheld devices, 2010 International Conference on Indoor Positioning and Indoor Navigation, pp.1-6, 2010.
DOI : 10.1109/IPIN.2010.5646888

H. A. Karimi, Advanced Location-Based Technologies and Services, 2013.
DOI : 10.1201/b14940

URL : http://www.crcnetbase.com/doi/pdfplus/10.1201/b14940-1

H. M. Khoury and V. R. Kamat, Evaluation of position tracking technologies for user localization in indoor construction environments, Automation in Construction, vol.18, issue.4, pp.444-457, 2009.
DOI : 10.1016/j.autcon.2008.10.011

K. Kim, S. Kim, and J. Kim, Adaptive fuzzy-network-based c-measure map-matching algorithm for car navigation system, IEEE Transactions on industrial electronics, vol.48, issue.2, pp.432-441, 2001.

. Kounavis, Enhancing the Tourism Experience through Mobile Augmented Reality: Challenges and Prospects, International Journal of Engineering Business Management, vol.13, issue.5, p.10, 2012.
DOI : 10.1109/MITP.2011.84

URL : https://doi.org/10.5772/51644

. Kourogi, . Kurata, M. Kourogi, and T. Kurata, A method of personal positioning based on sensor data fusion of wearable camera and self-contained sensors, Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI2003., pp.287-292, 2003.
DOI : 10.1109/MFI-2003.2003.1232672

. Kourogi, . Kurata, M. Kourogi, and T. Kurata, Personal positioning based on walking locomotion analysis with self-contained sensors and a wearable camera, The Second IEEE and ACM International Symposium on Mixed and Augmented Reality, 2003. Proceedings., p.103, 2003.
DOI : 10.1109/ISMAR.2003.1240693

URL : http://www.is.aist.go.jp/weavy/paper/distribution/2003/ismar2003-kourogi.pdf

H. Koyuncu and S. H. Yang, A survey of indoor positioning and object locating systems, IJCSNS International Journal of Computer Science and Network Security, vol.10, issue.5, pp.121-128, 2010.

J. B. Kuipers, Quaternions and rotation sequences, 1999.
DOI : 10.7546/giq-1-2000-127-143

. Kuo, Luxapose, Proceedings of the 20th annual international conference on Mobile computing and networking, MobiCom '14, pp.447-458, 2014.
DOI : 10.1145/2639108.2639109

Q. Ladetto, On foot navigation: continuous step calibration using both complementary recursive prediction and adaptive kalman filtering, Proceedings of ION GPS, pp.1735-1740, 2000.

S. Lakmal, H. D. Lakmal, and J. Samarabandu, Novel velocity model to improve indoor localization using inertial navigation with sensors on a smartphone, 2016 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE), pp.1-4, 2016.
DOI : 10.1109/CCECE.2016.7726814

. Lee, CityViewAR: A mobile outdoor AR application for city visualization, 2012 IEEE International Symposium on Mixed and Augmented Reality, Arts, Media, and Humanities (ISMAR-AMH), pp.57-64, 2012.
DOI : 10.1109/ISMAR-AMH.2012.6483989

. Lee, Estimation of Attitude and External Acceleration Using Inertial Sensor Measurement During Various Dynamic Conditions, IEEE Transactions on Instrumentation and Measurement, vol.61, issue.8, pp.612262-2273, 2012.
DOI : 10.1109/TIM.2012.2187245

. Lefferts, Kalman Filtering for Spacecraft Attitude Estimation, Journal of Guidance, Control, and Dynamics, vol.1, issue.5, pp.417-429, 1982.
DOI : 10.1109/TANE3.1962.4201893

. Li, How feasible is the use of magnetic field alone for indoor positioning?, 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp.1-9, 2012.
DOI : 10.1109/IPIN.2012.6418880

. Li, . Wang, W. Li, and J. Wang, Effective adaptive kalman filter for memsimu/magnetometers integrated attitude and heading reference systems, Journal of Navigation, issue.01, pp.6699-113, 2013.
DOI : 10.1017/s0373463312000331

URL : https://www.cambridge.org/core/services/aop-cambridge-core/content/view/01C2D8CA9E64F7ED36DE47B920CBCB80/S0373463312000331a.pdf/div-class-title-effective-adaptive-kalman-filter-for-mems-imu-magnetometers-integrated-attitude-and-heading-reference-systems-div.pdf

. Link, FootPath: Accurate map-based indoor navigation using smartphones, 2011 International Conference on Indoor Positioning and Indoor Navigation, pp.1-8, 2011.
DOI : 10.1109/IPIN.2011.6071934

URL : http://www.comsys.rwth-aachen.de/fileadmin/papers/2011/2011-IPIN-bitsch-footpath-long.pdf

. Lymberopoulos, A realistic evaluation and comparison of indoor location technologies, Proceedings of the 14th International Conference on Information Processing in Sensor Networks, IPSN '15, pp.178-189, 2015.
DOI : 10.1142/S2301385014400068

B. Macintyre, argon-aframe. https, 2017.

L. Madden, Professional Augmented Reality Browsers for Smartphones: Programming for junaio, Layar and Wikitude, p.49, 2011.

. Madgwick, Estimation of IMU and MARG orientation using a gradient descent algorithm, 2011 IEEE International Conference on Rehabilitation Robotics, pp.1-7, 2011.
DOI : 10.1109/ICORR.2011.5975346

. Mahony, Nonlinear complementary filters on the special orthogonal group. Automatic Control, IEEE Transactions on, issue.5, pp.531203-1218, 2008.
DOI : 10.1109/tac.2008.923738

URL : https://hal.archives-ouvertes.fr/hal-00488376

. Makni, Adaptive Kalman filter for MEMS-IMU based attitude estimation under external acceleration and parsimonious use of gyroscopes, 2014 European Control Conference (ECC), pp.1379-1384, 2014.
DOI : 10.1109/ECC.2014.6862535

URL : https://hal.archives-ouvertes.fr/hal-00968663

. Marins, An extended Kalman filter for quaternion-based orientation estimation using MARG sensors, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), pp.2003-2011, 2001.
DOI : 10.1109/IROS.2001.976367

URL : http://www.npsnet.org/~zyda/pubs/IROS2001.pdf

F. L. Markley, Attitude determination using vector observations and the singular value decomposition, The Journal of the Astronautical Sciences, vol.36, issue.3, pp.245-258, 1988.

M. Markley, F. L. Markley, and D. Mortari, Quaternion attitude estimation using vector observations, Journal of the Astronautical Sciences, vol.48, issue.2, pp.359-380, 2000.

S. Martin, P. Martin, and E. Salaün, Design and implementation of a low-cost observer-based attitude and heading reference system, Control Engineering Practice, vol.18, issue.7, pp.712-722, 2010.
DOI : 10.1016/j.conengprac.2010.01.012

URL : https://hal.archives-ouvertes.fr/hal-00494325

. Masiero, A Particle Filter for Smartphone-Based Indoor Pedestrian Navigation, Micromachines, vol.5, issue.4, pp.1012-1033, 2014.
DOI : 10.5194/isprsarchives-XL-5-401-2014

URL : http://www.mdpi.com/2072-666X/5/4/1012/pdf

. Matuszka, A Semantically Enriched Augmented Reality Browser, Virtual, Augmented and Mixed Reality. Designing and Developing Virtual and Augmented Environments, pp.375-384, 2014.
DOI : 10.1007/978-3-319-07458-0_35

R. Mautz, Indoor positioning technologies, 2012.

. Menozzi, Development of vision-aided navigation for a wearable outdoor augmented reality system, 2014 IEEE/ION Position, Location and Navigation Symposium, PLANS 2014, pp.460-472, 2014.
DOI : 10.1109/PLANS.2014.6851442

. Messelodi, i-Street: Detection, Identification, Augmentation of Street Plates in a Touristic Mobile Application, International Conference on Image Analysis and Processing, pp.194-204, 2015.
DOI : 10.1007/978-3-319-23234-8_19

. Michel, A comparative analysis of attitude estimation for pedestrian navigation with smartphones, 2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp.1-10, 2015.
DOI : 10.1109/IPIN.2015.7346767

URL : https://hal.archives-ouvertes.fr/hal-01194811

. Perfloc, An extensive data repository for development of smartphone indoor localization apps, Personal, Indoor, and Mobile Radio Communications (PIMRC), 2016 IEEE 27th Annual International Symposium on, pp.1-7

G. Munguia, R. Munguia, and A. Grau, Attitude and Heading System based on EKF total state configuration, 2011 IEEE International Symposium on Industrial Electronics, pp.2147-2152, 2011.
DOI : 10.1109/ISIE.2011.5984493

D. Group, Advanced Sensor Recorder, 2017.

D. Nguyen, Ar location-based for android, 2017.

P. Nicholls, G. Nicholls, and I. S. Powertech, Using augmented reality as an extension to utility GIS, IST Powertech journal, pp.62-64, 2013.

B. Ojeda, L. Ojeda, and J. Borenstein, FLEXnav: fuzzy logic expert rule-based position estimation for mobile robots on rugged terrain, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.317-322, 2002.
DOI : 10.1109/ROBOT.2002.1013380

URL : http://www-personal.umich.edu/~johannb/Papers/paper89.pdf

C. Oshman, Y. Oshman, and A. Carmi, Attitude Estimation from Vector Observations Using a Genetic-Algorithm-Embedded Quaternion Particle Filter, Journal of Guidance, Control, and Dynamics, vol.2, issue.3, pp.879-891, 2006.
DOI : 10.2514/3.3606

. Peterson, Measuring gps signals indoors, International Association of Institutes of Navigation. World congress, 1997.

. Piekarski, . Thomas, W. Piekarski, and B. Thomas, ARQuake: the outdoor augmented reality gaming system, Communications of the ACM, vol.45, issue.1, pp.36-38, 2002.
DOI : 10.1145/502269.502291

URL : http://www.tinmith.net/papers/piekarski-acm-comms-2002.pdf

. Pryss, Advanced Algorithms for Location-Based Smart Mobile Augmented Reality Applications, Procedia Computer Science, vol.94, pp.97-104, 2016.
DOI : 10.1016/j.procs.2016.08.017

URL : https://doi.org/10.1016/j.procs.2016.08.017

J. Puig-sanz, beyondar: Augmented Reality framework for Android based on geolocalization ( GPS ). original-date, pp.2013-2020, 2017.

. Rappaport, Wireless communications: principles and practice, 1996.

H. Rehbinder, H. Rehbinder, and X. Hu, Drift-free attitude estimation for accelerated rigid bodies, Automatica, vol.40, issue.4, pp.653-659, 2004.
DOI : 10.1016/j.automatica.2003.11.002

URL : http://www.math.kth.se/~hu/papers/drift.pdf

V. Renaudin and C. Combettes, Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation, Sensors, vol.12, issue.12, pp.1422864-22890, 2014.
DOI : 10.3390/s120708507

URL : https://hal.archives-ouvertes.fr/hal-01470333

. Renaudin, Step Length Estimation Using Handheld Inertial Sensors, Sensors, vol.12, issue.12, pp.8507-8525, 2012.
DOI : 10.3390/s120303720

URL : https://hal.archives-ouvertes.fr/hal-00878552

A. Sabatini, Quaternion-Based Extended Kalman Filter for Determining Orientation by Inertial and Magnetic Sensing, IEEE Transactions on Biomedical Engineering, vol.53, issue.7, pp.1346-1356, 2006.
DOI : 10.1109/TBME.2006.875664

D. Sachs, Sensor fusion on android devices: A revolution in motion processingOnline; accessed 9, 2010.

. Scioscia, A Framework and a Tool for Semantic Annotation of POIs in OpenStreetMap, Procedia - Social and Behavioral Sciences, vol.111, pp.1092-1101, 2014.
DOI : 10.1016/j.sbspro.2014.01.144

P. Series, Propagation data and prediction methods for the planning of indoor radiocommunication systems and radio local area networks in the frequency range 900 mhz to 100 ghz, 2012.

D. P. Shepard, Fusion of carrier-phase differential GPS, bundleadjustment-based visual SLAM, and inertial navigation for precisely and globally-registered augmented reality, 2013.

S. W. Shepperd, Quaternion from rotation matrix.[four-parameter representation of coordinate transformation matrix], Journal of Guidance and Control, vol.1, 1978.

K. Shoemake, Animating rotation with quaternion curves, ACM SIGGRAPH Computer Graphics, vol.19, issue.3, pp.245-254, 1985.
DOI : 10.1145/325165.325242

. Shuster, Kalman filtering for spacecraft attitude estimation, AIAA 20th Aerospace Sciences Meeting, 1982.

. Shuster, . Oh, M. D. Shuster, and S. Oh, Three-axis attitude determination from vector observations, Journal of Guidance, Control, and Dynamics, vol.1, issue.1, pp.70-77, 1981.
DOI : 10.2514/3.19717

. Speiginer, The Evolution of the Argon Web Framework Through Its Use Creating Cultural Heritage and Community???Based Augmented Reality Applications, International Conference on Human-Computer Interaction, pp.112-124, 2015.
DOI : 10.1007/978-3-319-21006-3_12

Y. S. Suh, Orientation Estimation Using a Quaternion-Based Indirect Kalman Filter With Adaptive Estimation of External Acceleration, IEEE Transactions on Instrumentation and Measurement, vol.59, issue.12, pp.593296-3305, 2010.
DOI : 10.1109/TIM.2010.2047157

. Susi, Motion Mode Recognition and Step Detection Algorithms for Mobile Phone Users, Sensors, vol.12, issue.2, pp.1539-1562, 2013.
DOI : 10.3390/s120303720

URL : https://hal.archives-ouvertes.fr/hal-00878547

I. E. Sutherland, A head-mounted three dimensional display, Proceedings of the December 9-11, 1968, fall joint computer conference, part I on, AFIPS '68 (Fall, part I), pp.757-764, 1968.
DOI : 10.1145/1476589.1476686

URL : http://www.medien.ifi.lmu.de/lehre/ss09/ar/p757-sutherland.pdf

. Thrun, Robust Monte Carlo localization for mobile robots, Artificial Intelligence, vol.128, issue.1-2, pp.99-141, 2001.
DOI : 10.1016/S0004-3702(01)00069-8

URL : https://doi.org/10.1016/s0004-3702(01)00069-8

. Torres-sospedra, UJIIndoorLoc: A new multi-building and multi-floor database for WLAN fingerprint-based indoor localization problems, 2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp.261-270, 2014.
DOI : 10.1109/IPIN.2014.7275492

. Valenti, A Linear Kalman Filter for MARG Orientation Estimation Using the Algebraic Quaternion Algorithm, IEEE Transactions on Instrumentation and Measurement, vol.65, issue.2, pp.467-481, 2016.
DOI : 10.1109/TIM.2015.2498998

. Van-haute, Platform for benchmarking of RF-based indoor localization solutions, IEEE Communications Magazine, vol.53, issue.9, pp.126-133, 2015.
DOI : 10.1109/MCOM.2015.7263356

. Van-haute, The evarilos benchmarking handbook: Evaluation of rf-based indoor localization solutions, 2nd International Workshop on Measurement-based Experimental Research, 2013.

G. Wahba, A Least Squares Estimate of Satellite Attitude, SIAM Review, vol.7, issue.3, pp.409-409, 1965.
DOI : 10.1137/1007077

O. J. Woodman, An introduction to inertial navigation, 2007.

. Yohan, Bars: Battlefield augmented reality system, NATO Symposium on Information Processing Techniques for Military Systems, pp.9-11, 2000.

. Zhang, Allan variance analysis on error characters of MEMS inertial sensors for an FPGA-based GPS/INS system, Proceedings of the International Symposium on GPS/GNNS, pp.127-133, 2008.

. Zhou, Robust Pose Estimation for Outdoor Mixed Reality with Sensor Fusion, Universal Access in Human-Computer Interaction. Applications and Services, pp.281-289, 2009.
DOI : 10.1109/38.963459

. Zhu, A linear fusion algorithm for attitude determination using low cost MEMS-based sensors, Measurement, vol.40, issue.3, pp.40322-328, 2007.
DOI : 10.1016/j.measurement.2006.05.020