...
Indoor Geographical Markup Language (IndoorGML) is a standard created by the Open Geospatial Consortium (OGC) to represent and exchange geographical information, which is to build and operate indoor navigation systems. Indoor navigation comprises of route planning, localization, and tracking of subjects (i.e. people) and objects (e.g. robots or other indoor vehicles). In accordance to our application the system will incorporate a cellular space model, landmark positioning, indoor localization, and representation of mobile agents. As an established standard the focus will be using IndoorGML to create the virtual indoor environment that will achieve the desired map model representation for navigation.
Cellular Space Model
Cellular space defined as an area that is divided into cells where each particular cell has information for navigation. Cellular space has three significant properties. First, a symbolic code or a cell identifier such as a room number represents each cell. Furthermore, every cell shares a common boundary amongst other cells that never overlap. Finally, cellular space employs an (x, y, z) coordinate system to determine a precise location.
Example Indoor Environment:
In IndoorGML representation, connectivity regarding the possibility to navigate through cells is primarily derived from the semantics and topology of cells. Semantics allows for encoding characteristic information about each cell. It is used to classify cells to provide an identity for better interpretation along with using the topology to determine the connectedness amongst other cells. An example of this would be doors, elevators, rooms, walls; all would fall into a topological layer where each cell is aware of the other cells around it to make up an entire floor plan.
Path Planning
Simulation and Results
...