LOPSI Research Group: Localization and Exploration for Intelligent Systems

Centro de Automática y Robótica (CAR)
Consejo Superior de Investigaciones Científicas (CSIC) / Univ. Politécnica de Madrid (UPM)
Arganda del Rey (Madrid)


LOPSI is a research group specialized in the creation of technological solutions for intelligent environments, which can perceive the presence of people and offer them useful location-based services. We perform both basic research and technological development in this area.

We have two main lines of research:

  1. Localization of people in indoor and outdoor GNSS-challenging areas. 
  2.  Human motion analysis based on gait analysis using inertial sensors.


The technological solution of the LOPSI group include the development of Assistance Systems for people, Ambient Intelligence applications, Location-Based Services, Health Gait Assessment Platforms, as well as general industrial applications.


The key elements of our approach to indoor localization and navigation are:

  • RF beaconing technologies (BLE, RFID, UWB, etc.), including creation of indoor RF radiomaps or fingerprints.
  • Inertial Measurement Units (IMUs) for estimation of user’s motion with Pedestrian Dead Reckoning (PDR).
  • Gait Analysis for health assessment, detection of frailty and fall risk in elderly.
  • Bayesian filtering of sensor data for dynamic tracking of people and Map-matching techniques to improve the accuracy of indoor localization.
  • Fusion with GNSS (GPS / Glonass / Galileo) signals for seamless indoor-outdoor navigation.


Dr. Antonio Ramón Jiménez Ruiz


Dr. Fernando Seco Granja


PhD student – Luisa Ruiz Ruiz


PhD student – Melisa Pilla Barroso



Winners of the second EvAAL competition on «Indoor Localization and Tracking for Ambient Assisted Living»:

At the Ambient Assisted Living (AAL) forum, held on 24th September, 2012, in Eindhoven, Netherlands, the LOPSI group received an award as winners of the second EvAAL competition (track 1: Indoor Localization and Tracking for AAL), which took place at the Living Lab of the Polytechnic University of Madrid, Spain, in July 2-6, 2012. This competition is a benchmark test of the accuracy, availability, acceptance, and ease of deployment of a Localization System usable for Ambient Assisted Living applications. LOPSI won with a personal localization system based on a combination of RF-based positioning and Pedestrian Dead Reckoning.

See the general description of the system and our experience and results at the EvAAL contest here.

Last update: September 13th, 2023