| Indoor and outdoor seamless navigation has become the international academic and industrial competition for the strategic point of competition,as the most of human life is in the indoor space,such as office buildings,shopping malls,airports,and subway stations.Indoor navigation is the inevitable trend of the development of location services,and its core is to support the change awareness of indoor location expression and navigation routing solution.However,presently the research of 3D indoor is mainly focusing on the indoor space complexity of large buildings.The important issue is how to quickly perceive the indoor space environment and its change,and support the rapid,efficient and dynamic navigation based on these changes to meet the diversified demands of indoor location service application in public security and business service.In this paper,the problem of complex indoor environment navigation is divided into four key issues:the expression of indoor location information,the extraction of indoor spatial information,the dynamic indoor navigation model and data organization,and dynamic generation of indoor navigation mesh.The theory and approach in this paper are used to overcome the problem that traditional static indoor navigation was applied only for simple shortest path routing and navigation solver method is limited to simple building information based on 2D floor plan without concerning obstacles and vertical space.This paper aims at the variety and dynamics of indoor scene location expression.A new multi-dimensional indoor location information model is proposed from traditional static location description to dynamic change.Aiming at the complexity of the indoor scene containing obstacles and multi-floors,an approach of extracting the three-dimensional indoor space from the traditional 2D function interval to the 3D space refer to obstacles and different types of users.Aiming at the multi-dimensional dynamic characteristics of complex indoor environment,an indoor navigation model is presented to support the static and dynamic information such as building structure,indoor space,sensors and personnel behavior.Aiming at the efficiency and adaptability of indoor navigation computation,a real-time dynamic approach for generating indoor navigation mesh based on indoor navigation model is proposed to support quantifiable routing and evaluation.Specific contents include:(1)A review of related work:Indoor navigation information of dynamic change environment is reviewed and divided into indoor location information representation model,indoor spatial information extraction approach,indoor dynamic scene navigation model and data organization,and indoor navigation mesh generation and routing approach.Finally,the development trend of existing methods in different fields is pointed out;and the adaptability of the existing methods is compared with the dynamic generation method of the complex indoor environment navigation model.(2)Multi-dimensional indoor location information model:Existing indoor location descriptions focus on the expression of single location features,lack of definition of multi-dimensional location association constraints.And it is focusing on geometric measurement in application,lack of topology and orientation logic operations.Therefore,this paper introduces the concept of indoor absolute location and indoor relative location,proposes an indoor location information model to support the dynamic change description,and realizes the description of static object and dynamic object position and position change in the dynamic changing indoor environment to provide the basis of location description for indoor navigation model and data organization.(3)A complex 3D indoor space extraction approach:Existing methods of indoor space extraction focus on the location relationship reconstruction inside 3D models,lack of indoor space semantic consistency constraints expression.Additionally,it focuses on the static spatial segmentation of 3D model,lack of dynamic change update mechanism.Furthermore,it emphasizes on data visualization and storage of efficient scheduling,to a certain extent,undermines the geometric consistency of original model,lack of geometric and semantic correlation mechanism.Therefore,this paper proposes an indoor space extraction approach to support obstacle information.It can adapt to the space extraction requirements of different types of users through rough extraction and accurate extraction,while preserving the geometric integrity of 3D indoor space definition and division.It realizes the efficient indoor space extraction with preserving the geometric and semantic consistency,and provides the accessible spatial data basis for the dynamic generation of change-aware indoor navigation mesh.(4)Complex indoor environment intelligent navigation method:The exiting indoor navigation methods mostly focuses on the horizontal space scenario,lack of vertical space solution containing staircases for multi-story indoor application.And it focus on the path routing of static indoor scene,lack of perceptual changes for dynamic indoor navigation.Therefore,this paper develops a dynamic indoor field model of complex indoor environment,which is based on indoor space.It breaks though bottleneck of the traditional coarse-grained indoor navigation based on vector-oriented network,and supports the indoor scene perception and emergency navigation analysis to reflect the real details.It realizes the indoor scene with comprehensive dynamic changes considering the building components,facilities,sensors and personnel to provide data model foundation for change-aware indoor navigation mesh generation.Furthermore,this paper resents a complex indoor environment intelligent navigation method,which supports the real-time calculation of navigation grids,and realizes the individual-oriented indoor navigation route dynamic generation.It supports the analysis and perception of congestion and stagnation during navigation process,and provides the theoretical support for the scientific formulation of indoor navigation route.Finally,this paper adopts the typical complex indoor scenes and data:High-speed rail station in Yujiabao Financial District of Tianjin Binhai New Area.Based on the theory of complex indoor environment intelligent navigation method,the approach of indoor navigation for emergency response is developed to realize the change-aware indoor navigation,and to support the quantitative indoor congestion and stagnation analysis and evaluation based on single-story building and multi-story building experiment.The experimental results show that the proposed models and approaches in this paper can efficiently realize the change awareness indoor navigation and evacuation simulation evaluation,and can adapt to different navigation mesh size and crowd specification. |
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