Abstract
Abstract. Indoor navigation has to deal with more issues as compared to outdoor navigation. Those issues include but are not limited to; need more level of detail to process enclosing area around navigating subject or object, consideration of the context of navigation (about locomotion type and its operating environment), and dealing with unconstrained indoor space for accurate results. Because of these complex issues, most of the frameworks for indoor navigation support for only one single type of locomotion, i.e. either walking, driving, or flying. And this decision to select a specific type of locomotion results in restricting the use of representation of indoor space for other types of locomotion e.g. graph-based abstraction of indoor space for driving cannot be used for flying. In this work, we addressed the problem of supporting different types of locomotion in indoor space by determining 3D navigable subspace for the given locomotion type based on its physical constraints. While determining 3D subspace, we focused on some issues that include indoor space representation, precision of subspace computation, and "the consideration of the context of navigation" (about indoor space and the locomotion type). To achieve better representation of indoor space, the subspaces are determined based on the connected opening spaces. And for precise subspace computation according to the given locomotion type, we used the geometric methods i.e. configuration space from robotics field. Furthermore, a semantically enriched 3D indoor virtual model in CityGML format and different locomotion types (flying, driving, and walking) containing information (semantics, geometry, and topology) were considered to examine the context of navigation. Last but not least, the subspacing procedure was presented and implemented in a sound mathematical framework i.e. Multilayered Space-Event Model (MLSEM) as proposed by Becker, Nagel, and Kolbe in 2008 and 2009.
Highlights
The availability of 3D virtual semantic models of indoor environment, methods to represent them in network models, and geometric methods to determine navigable and nonnavigable space with accurate results provide an opportunity to consider them for subspacing for the different locomotion types
We require the result of subspacing should be precise, abstract, and take into consideration of the context of navigation
We address the problem of supporting different locomotion types through dealing with their subspacing in semantically enriched 3D indoor environment
Summary
The availability of 3D virtual semantic models of indoor environment, methods to represent them in network models, and geometric methods to determine navigable and nonnavigable space with accurate results provide an opportunity to consider them for subspacing for the different locomotion types (flying, driving, and walking). ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume II-2/W1, ISPRS 8th 3DGeoInfo Conference & WG II/2 Workshop, 27 – 29 November 2013, Istanbul, Turkey determine accurate navigable and nonnavigable subspaces using geometric and graph based methods in a static 3D semantic virtual environment. The environmental model is analyzed to extract topology and generate a precise network model This network and geometric model is subspaced for better representation of complex situations and used to determine accurate navigable and nonnavigable space for different locomotion types based on geometric methods.
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