Text this: Twofeet : an infrastructure-free localization system for large indoor spaces and its applications using smartphones

  ______   __   __    _  _    _    _     _  _   
 /_   _//  \ \\/ //  | \| || | || | ||  | \| || 
 `-| |,-    \ ` //   |  ' || | || | ||  |  ' || 
   | ||      | ||    | .  || | \\_/ ||  | .  || 
   |_||      |_||    |_|\_||  \____//   |_|\_|| 
   `-`'      `-`'    `-` -`    `---`    `-` -`