Applying hierarchical graphs to pedestrian indoor navigation

In this paper we propose to apply hierarchical graphs to indoor navigation. The intended purpose is to guide humans in large public buildings and assist them in wayfinding. We start by formally defining hierarchical graphs and explaining the particular benefits of this approach. In the main part, we suggest an algorithm to automatically construct such a multi-level hierarchy from floor plans. The algorithm is guided by the idea to exploit domain-specific characteristics of indoor environments. Besides this, two particular problems are addressed: first, how to incorporate three-dimensional elements in the hierarchy, and second, the need for extending the hierarchy at complex geometrical regions with implicit decision points. An extended version of this paper is also available [1].

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