| 2018 | FUSION | 3D Angle-of-Arrival Positioning Using von Mises-Fisher Distribution. | Henri Nurminen, Laura Suomalainen, Simo Ali-Lytty, Robert Pich |
| 2017 | FUSION | Gaussian flow sigma point filter for nonlinear Gaussian state-space models. | Henri Nurminen, Robert Pich, Simon J. Godsill |
| 2016 | FUSION | An efficient indoor positioning particle filter using a floor-plan based proposal distribution. | Henri Nurminen, Matti Raitoharju, Robert Pich |
| 2016 | FUSION | A systematic approach for Kalman-type filtering with non-Gaussian noises. | Matti Raitoharju, Robert Pich, Henri Nurminen |
| 2015 | IPIN | A NLOS-robust TOA positioning filter based on a skew-t measurement noise model. | Henri Nurminen, Tohid Ardeshiri, Robert Pich, Fredrik Gustafsson |
| 2014 | IPIN | Motion model for positioning with graph-based indoor map. | Henri Nurminen, Mike Koivisto, Simo Ali-Lytty, Robert Pich |
| 2013 | IPIN | Particle filter and smoother for indoor localization. | Henri Nurminen, Anssi Ristimaki, Simo Ali-Lytty, Robert Pich |
| 2012 | IPIN | Statistical path loss parameter estimation and positioning using RSS measurements in indoor wireless networks. | Henri Nurminen, Jukka Talvitie, Simo Ali-Lytty, Philipp Mller, Elena Simona Lohan, Robert Pich, Markku Renfors |