Spatial models for context-aware indoor navigation systems: A survey

This paper surveys indoor spatial models developed for research fields ranging from mobile robot mapping, to indoor location-based services (LBS), and most recently to context-aware navigation services applied to indoor environments. Over the past few years, several studies have evaluated the potential of spatial models for robot navigation and ubiquitous computing. In this paper we take a slightly different perspective, consid- ering not only the underlying properties of those spatial models, but also to which degree the notion of context can be taken into account when delivering services in indoor environ- ments. Some preliminary recommendations for the development of indoor spatial models are introduced from a context-aware perspective. A taxonomy of models is then presented and assessed with the aim of providing a flexible spatial data model for navigation pur- poses, and by taking into account the context dimensions.