A generic space definition framework to support seamless indoor/outdoor navigation systems

Contemporary public buildings are becoming conglomerates of open, semi‐open and closed spaces, with indoor, outdoor and underground sections. For humans and robots to navigate seamlessly through such environments, new flexible approaches need to be developed. Navigation systems generally rely on a network (nodes and edges) as an abstraction of underlying space availability. However, indoor and outdoor networks have different origins. While indoor systems rely on indoor space subdivision approaches, current outdoor systems utilize road‐based network approaches. Linking such networks via particular nodes is possible but restrictive. Many spaces in the built environment are not strictly indoor or outdoor spaces and are thus often omitted from navigation networks, further limiting navigation options. To overcome these shortcomings, we introduce a new space definition framework in which the entire built environment is categorized into indoor, outdoor, semi‐indoor and semi‐outdoor spaces. We provide strict definitions for the four space categories. Our framework allows the same navigation network extraction approaches to be used and therefore enables seamless indoor/outdoor path computation for single or combinations of locomotion modes. The notions of semi‐indoor and semi‐outdoor spaces offer new options for further tailoring of the navigation path with respect to environmental factors, which we demonstrate with two use cases.     

Integrating Indoor and Outdoor Spaces for Pedestrian Navigation Guidance: A Review

In light of the many improvements within 3D urban modeling and Location‐Based Services, this article provides a timely review of the state‐of‐the‐art on integrating indoor and outdoor spaces in pedestrian navigation guidance aids. With people moving seamlessly between buildings and surrounding areas, navigation guidance tools should extend from merely outdoor or indoor guidance, to provide support in the combined indoor‐outdoor context. This article first examines the challenges and complexities of integrating indoor and outdoor spaces into a single navigation system. Next, by using objective selection criteria, 36 relevant studies were withheld and further reviewed on their specific developments in data model requirements, and algorithmic and context support for integrated IO navigation systems. This review shows that the challenges of dealing with both indoor and outdoor space structures, while taking into account pedestrian's freer use of space, currently complicate the proposition of a unified IO space concept for navigation. However, there are some ongoing developments (e.g. context definitions, algorithmic extensions, increased data availability, growing awareness of pedestrians’ perception during wayfinding) that will help to bring outdoor and indoor spaces closer together in the realm of combined geospatial analysis.     

Semantic enrichment of octree structured point clouds for multi‐story 3D pathfinding

3D indoor navigation in multi‐story buildings and under changing environments is still difficult to perform. 3D models of buildings are commonly not available or outdated. 3D point clouds turned out to be a very practical way to capture 3D interior spaces and provide a notion of an empty space. Therefore, pathfinding in point clouds is rapidly emerging. However, processing of raw point clouds can be very expensive, as these are semantically poor and unstructured data. In this article we present an innovative octree‐based approach for processing of 3D indoor point clouds for the purpose of multi‐story pathfinding. We semantically identify the construction elements, which are of importance for the indoor navigation of humans (i.e., floors, walls, stairs, and obstacles), and use these to delineate the available navigable space. To illustrate the usability of this approach, we applied it to real‐world data sets and computed paths considering user constraints. The structuring of the point cloud into an octree approximation improves the point cloud processing and provides a structure for the empty space of the point cloud. It is also helpful to compute paths sufficiently accurate in their consideration of the spatial complexity. The entire process is automatic and able to deal with a large number of multi‐story indoor environments.     

A comparison of network model creation algorithms based on the quality of wayfinding results

Various network model creation algorithms have been introduced to demonstrate a better approximation of the actual walking pattern and to provide a better wayfinding guide. However, it is under‐investigated which algorithm creates the most appropriate indoor navigation network model in the context of wayfinding applications. Due to the lack of discussion, some studies unconsciously extended an algorithm designed for creating an outdoor navigation network model to indoor space applications. This is problematic because indoor space has different spatial contexts from outdoor space, such as non‐linear space and no‐designated walking space. Our solution is to select five well‐known algorithms that have been introduced, to reproduce the algorithm for the automated construction of the indoor navigation network model, and to evaluate the applicability of algorithms for indoor wayfinding applications. This article compares the quality of wayfinding results from the output of the indoor navigation network model against two criteria: route efficiency (i.e., length) and route simplicity (i.e., number of directions). Our statistical analysis illustrates that the visibility graph algorithm is the most appropriate for indoor wayfinding applications.     

顾及地标可视性的室内导航路径优化算法

提出了一种构建室内行人通行网络的方法,利用矢量建筑图自动构建室内建筑、地标的可视关系,建立行人导航通行规则,支持室内导航路径规划。实验结果表明,此方法能够有效描述室内行人通行规则,并满足拓扑网络构建的实时性需求,减少大规模存储与维护室内路网的压力。在此基础上提出了一种多目标导航路径优化算法,该算法时间开销较低,能够实时地进行路径规划,得到的最优路径与最短路径相比具有更高的地标可见性和覆盖率。     

一种基于体素的室内三维连通图自动生成算法

为了能快速计算室内导航路径,必须使用简单的数据结构表达室内复杂的路径导航信息,室内三维连通图就是一种较好的手段。但是传统的室内精细建模重在几何模型的构建和纹理数据采集,缺乏室内三维连通图的构建。针对广泛存在室内几何模型提出一种基于体素的室内三维连通图自动生成算法,对建筑物内部进行分割和填充,将室内空间划分为离散的导航空间,通过自动语义关联提取连通关系,最终生成室内空间三维连通图。     

基于移动LiDAR点云数据的室内全要素三维重建

精确的室内三维模型在古遗产保护、公共场所的精细化管理和室内导航等领域有着重要作用,而激光雷达正被逐步应用到室内三维重建中。文中采用移动激光雷达对室内所有附属设施进行高精度激光扫描,得到融合CCD影像色彩信息的彩色点云数据。给出室内全要素三维重建的技术流程,并利用Autodesk CAD等三维建模平台对点云数据进行有效处理,最终得到高精度且带有大地坐标的室内三维模型。实验结果表明,采用移动激光雷达能快速获取高精度的室内三维点云数据。通过文中提出的流程,可快速得到真三维、真尺寸、真纹理的室内全要素模型。     

顾及步行习惯的室内导航网络及其生成算法

室内导航网络是实现室内路径规划和导航的基础。针对现有室内导航网络存在拓扑连通结构不合理、生成路径几何形态不自然等问题,本文依据人类长期以来形成的“抄近路”习性及“避碰”安全需求,提出了一种符合人行走习惯的室内导航网络及其自动生成算法。该导航网络将室内可通行空间划分为普通房间和走廊,普通房间内网络映射为房间结点与门结点的直线连接;形状复杂的走廊空间则依据空间尺度和凹凸性被细分为狭窄走廊空间和开阔走廊空间,狭窄走廊空间以中轴线作为路线,开阔走廊空间则将门结点和通道口结点连接形成完全图;最后将房门结点连接到走廊路线,形成完整室内导航网络。试验结果表明:该模型及其生成算法能够依据室内空间尺度对复杂通行空间进行合理分区,生成与空间特征一致的导航网络结构,使得规划生成的最短路径形态更符合人们的行走习惯。     

室内位置信息模型与智能位置服务

商业中心、交通枢纽、医院、停车场等复杂室内及地下空间的安全管理与应急响应对室内外无缝导航与位置服务的需求日益迫切,提出了一种室内位置信息模型,扩展了OGC标准CityGML和IndoorGML中的位置信息描述,提供了描述室内相对位置和室内绝对位置的本体,介绍了一种针对三维建筑物模型的室内空间自动提取方法,为智能位置服务奠定了重要基础。     

一种含室内空间结构的建筑物3D LOD概念模型与生成方法

针对现有建筑物多细节层次（level of detail,LOD）表达主要面向外部,很少涉及内部空间的问题,提出一种含室内空间结构的建筑物三维LOD概念模型。该模型分为LOD0~LOD6 7个LOD,细节层次由建筑物的基底平面图、幢模型、无侧面楼层模型、楼层模型、户模型、房间模型到含门、窗等建筑语义的信息房间模型,空间细节逐次变细,丰富了建筑物室内空间LOD的表达理论。为构建这种LOD模型,提出基于胞腔复形链边界算子和上边界算子的LOD生成方法。该方法引入代数拓扑的胞腔、胞腔复形和复形链3个概念,利用胞腔和胞腔复形表达LOD,并在LOD6的基础上,利用边界算子和上边界算子生成其他粗空间粒度LOD模型,为三维城市模型建筑物LOD构建提供一种新方法。     

面向位置服务的室内外统一空间基准转换

随着智慧城市建设的不断推进,对位置服务的需求已经由室外拓展至室内空间,并对室内外一体化服务提出更高要求.由于室内空间范围相对较小且对几何信息表达精度要求较高,因此,通常采用独立的平面或三维直角坐标系作为空间基准,从而造成室内与室外以及不同建筑室内空间基准的差异,影响室内外空间信息的一体化表达与应用.为此,文中在系统分析...     

Construction of 3D Volumetric Objects for a 3D Cadastral System

This article presents a new method to illustrate the feasibility of 3D topology creation. We base the 3D construction process on testing real cases of implementation of 3D parcels construction in a 3D cadastral system. With the utilization and development of dense urban space, true 3D geometric volume primitives are needed to represent 3D parcels with the adjacency and incidence relationship. We present an effective straightforward approach to identifying and constructing the valid volumetric cadastral object from the given faces, and build the topological relationships among 3D cadastral objects on‐the‐fly, based on input consisting of loose boundary 3D faces made by surveyors. This is drastically different from most existing methods, which focus on the validation of single volumetric objects after the assumption of the object's creation. Existing methods do not support the needed types of geometry/topology (e.g. non 2‐manifold, singularities) and how to create and maintain valid 3D parcels is still a challenge in practice. We will show that the method does not change the faces themselves and faces in a given input are independently specified. Various volumetric objects, including non‐manifold 3D cadastral objects (legal spaces), can be constructed correctly by this method, as will be shown from the results.     

绝对空间定位到相对空间感知的行人导航研究趋势

相对空间比绝对空间更易于被人理解。行人导航本质是以相对于人的导航环境视觉与空间等相对语义来动态引导行人的过程,即相对导航。目前,GIS导航理论以绝对定位与空间建模为基础,没有充分理解人对相对语义的认知差异,缺乏基于相对语义的导航理论模型。首先,总结了以绝对空间定位与表达为基础的行人导航研究,提出了相对空间感知的行人导航研究新方向。然后,剖析了相对导航研究的理论研究需求,如:行人相对导航数据采集与建模、行人导航环境相对语义的提取、行人导航行为的自动感知分析、行人导航的多感官交互机制、行人导航路径选择与确认机制等。最后,展望了未来行人导航研究与重要创新的3个阶段。     

Advances in techniques to formulate the watertight concept for cadastre

The world’s rising urban density expansion has resulted in a proliferation of attempts to efficiently use space and a higher level of spatial complexity in metropolitan areas. 3D geospatial data models are increasingly being embraced to facilitate communicating the spatial dimensions of complex built environments in different applications. For example, the use of 3D models in land administration systems has been recognized as a good approach for communicating the spatial complexity of legal spaces within multi‐storey buildings. The spatial extent of legal space—to which rights, restrictions and responsibilities relate in a 3D digital cadastre—needs to be accurately defined and geometrically closed; watertight. Therefore, this study aims to address the challenges regarding checking the closure of diverse 3D legal spaces and engage several techniques to formulate the watertight concept for cadastre. The research’s methodology is built on a 3D polyhedral surface using a half‐edge data structure. A primitive check is employed to assess the spatial consistency of lower‐dimensional primitives of 3D objects. Subsequently, advanced closure checks ensure the closure of volumetric legal spaces represented by 2‐manifold and non‐2‐manifold data models. The article concludes that, by adopting the proposed approaches, the internal spatial consistency of legal spaces in urban land administration will be certified.     

基于众源数据的室内外一体化行人路网构建

行人路网的完整性和准确性是保障步行导航服务的关键。当前的行人路网大多是基于室外道路设施构建的,缺乏室内可步行路径的数据支持,无法在导航应用中提供准确、真实的最优路径规划服务。鉴于此,本文提出了一种基于众源数据的室内外一体化行人路网构建方法,采用智能手机定位传感器与惯性传感器记录的众源轨迹,首先对缺失或者漂移的室内步行数据进行筛选,然后使用改进的行人航位推算(PDR)方法推算出准确的室内轨迹,进而采用莫尔斯理论生成涵盖室内外行人路径的完整行人路网。试验分析中对搜集到的260条步行轨迹数据进行行人路网构建,并使用高精度测量设备采集真实路网数据进行对比分析,结合OSM数据对试验结果进行综合评价。试验结果表明,本文方法能够准确、完整地生成室内外一体化行人路网。     

Toward seamless indoor-outdoor applications: Developing stakeholder-oriented location-based services

Location-Based Services (LBS),an emerging new business based on smartphone and mobile networks,are becoming more and more popular.Most of these LBSs,however,only offer non-seamless indoor/outdoor applications and simple applications without giving stakeholders the chance to play an active role.Our specific aim is to solve these issues.This paper presents concepts to solve these issues by expanding the Open Location Services Interface Standard (OpenLS) to allow seamless indoor/outdoor positioning and to extend the content of the services to include information recommended by stakeholders.     

低成本大视场深度相机阵列系统

在测距传感器不断轻量化、小型化以及室内外地图一体化导航应用的驱动下,三维（3D）室内移动测量成为当今研究和应用的热点,在室内建模、室内定位等新兴领域中的应用越来越广泛。3D室内移动测量系统通常配备激光扫描仪、全景相机、惯性测量单元（inertial measurement unit,IMU）系统和里程计等传感器,虽能实现3D室内点云数据的采集,但其距离传感器-激光扫描仪价格昂贵且便携性较差。彩色深度（RGB depth,RGB-D）相机为低成本3D室内移动测量系统构建提供了新的距离成像传感器选择,但主流型号RGB-D相机视场角小,继而导致数据采集效率远低于传统激光扫描仪,难以做到点云数据的完整覆盖与稳健采集,且易造成同时定位与制图（simultaneous localization and mapping,SLAM）过程中跟踪失败。针对以上问题,构建了一种低成本室内3D移动测量系统采集设备,通过组合多台消费级RGB-D相机构成大视场RGB-D相机阵列,提出了一种阵列RGB-D相机内外参数标定方法,并通过实验检验了设计系统采集的点云数据的精度。     

室内地标提取的POI显著度定量评价模型

室内地标在室内位置信息服务（location based service,LBS）中发挥着重要作用。针对室外地标提取方法不能完全适用于更为复杂的室内环境的问题,提出了一种显著度定量评价模型用于在室内环境中提取地标。以大型商场的室内环境为研究对象,从视觉、认知、空间3个方面分析影响室内兴趣点（point of interest,POI）显著性的主要因素,并用这些因素构建了室内POI整体显著度评价模型。选择武汉市群光购物中心室内的POI数据进行显著度计算,依据显著度的差异性提取了多层地标,反映不同粒度的室内区域空间知识。提取的多层地标可以作为室内智能导航系统中的重要标识,为在复杂的大型商场内实现快速寻路、多粒度路径导引提供关键线索。     

Toward seamless indoor-outdoor applications: Developing stakeholder-oriented location-based services

Location-Based Services (LBS), an emerging new business based on smartphone and mobile networks, are becoming more and more popular. Most of these LBSs, however, only offer non-seamless indoor/outdoor applications and simple applications without giving stakeholders the chance to play an active role. Our specific aim is to solve these issues. This paper presents concepts to solve these issues by expanding the Open Location Services Interface Standard (OpenLS) to allow seamless indoor/outdoor positioning and to extend the content of the services to include information recommended by stakeholders.     

基于语义的多细节层次3维房产模型

针对2维房产管理中的产权重叠、表达不完全和建筑物室内外一体化管理难题,在综合分析3维房产数据的对象类型及其应用特性的基础上,从概念层次提出了一种基于语义的多细节层次3维房产模型。该模型通过空间与产权的语义描述,对3维房产管理对象间的多细节层次关系进行一体化表达,特别是实现了对建筑物内部的房产空间关系表达,有利于明晰内部空间(户)的产权划分及各房产对象间的产权关联,为建立产权明晰与室内外综合管理的真3维房产应用提供了理论依据。