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Finding outdoor boundaries for 3D space-based navigation

机译：寻找基于3D空间导航的户外边界

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摘要

Outdoor navigation is widely used in daily life, but faces various issues related to the fidelity of outdoor navigation networks. For instance, agents (pedestrians) are often guided via unrealistic detours around places without clear paths (e.g., squares) or if there are vertical constraints such as overpasses/bridges. This is partly explained by the fact that the main sources of navigation networks in current outdoor navigation are two-dimensional road/street networks. Utilizing a three-dimensional space-based navigation model, compatible with some indoor approaches, is a popular way to address the above-mentioned issues. A 3D space-based navigation model is generated by treating 3D spaces as nodes and the shared faces as edges. Inputs of this model are enclosed 3D spaces (volumes). However, outdoor spaces are generally open and unbounded. This article puts forward an approach to enclose outdoor spaces and mimic the indoor environments to derive a network based on connectivity and accessibility of spaces. The approach uses 2.5D maps and consists of three major steps: object footprint determination, footprint classification and space creation. Two use cases demonstrate the proposed approach. Enclosing outdoor spaces opens a new research direction toward providing seamless indoor/outdoor navigation for a range of agents.
机译：户外导航广泛用于日常生活中，但面临与户外导航网络的保真度相关的各种问题。例如，代理（行人）通常通过不切实际的绕道引导，而没有明确的路径（例如，方块）或者是否存在垂直约束，例如跨通道/桥梁。这部分地解释：当前室外导航中的导航网络主要来源是二维道路/街道网络。利用与一些室内方法兼容的三维空间导航模型是解决上述问题的流行方式。通过将3D空间视为节点以及共享面为边缘来生成3D空间导航模型。此模型的输入是封闭的3D空格（卷）。然而，户外空间通常是开放和无限的。本文提出了一种封闭户外空间的方法，并模仿室内环境，以基于空间的连接和可访问性导出网络。该方法使用2.5D地图，由三个主要步骤组成：对象占地面积，足迹分类和空间创建。两种用例展示了所提出的方法。封闭户外空间为一系列代理商提供无缝室内/室外导航的新研究方向。

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