# Rapid BLE Beacon Localization with Range-Only EKF-SLAM Using Beacon Interval Constraint

> Research article (2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2019) · cited 22× · AI/ML

**Wikidata**: [openalex:W2990308920](https://www.wikidata.org/wiki/openalex:W2990308920)  
**Source**: https://4ort.xyz/entity/rapid-ble-beacon-localization-with-range-only-ekf-slam-using-beacon-interval-constraint