Automatic extraction of a navigation graph intended for IndoorGML from an indoor point cloud

Puck Flikweert, Ravi Peters, Lucía Díaz-Vilariño, Robert Voûte, Bart Staats

Research output: Contribution to journalConference articleScientificpeer-review

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Indoor environments tend to be more complex and more populated when buildings are accessible to the public. The need for knowing where people are, how they can get somewhere or how to reach them in these buildings is thus equally increasing. In this research point clouds are used, obtained by dynamic laser scanning of a building, since we cannot rely on architectural drawings for maps and paths, which can be outdated. The presented method focuses on the creation of an indoor navigation graph, based on IndoorGML structure, in a fast and automated way, while retaining the type of walkable surface. In this paper the focus has been on door detection, because doors are essential elements in an indoor environment, seeing that they connect spaces and are a logical step in a route. This paper describes a way to detect doors using 3D Medial Axis Transform (MAT) combined with the intelligence stored in the path of a mobile laser scanner, showing good first results. Additionally different spaces (e.g. rooms and corridors) in the building are identified and slopes and stairs in walkable spaces are detected. This results in a navigation graph which can be stored in an IndoorGML structure.
Original languageEnglish
Pages (from-to)271-278
Number of pages8
JournalISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Issue number2/W5
Publication statusPublished - 2019
Event4th ISPRS Geospatial Week 2019 - Enschede, Netherlands
Duration: 10 Jun 201914 Jun 2019


  • 3D Medial Axis Transform
  • IndoorGML
  • automatic door detection
  • indoor
  • indoor navigation
  • laser scanning
  • navigation graph
  • point cloud
  • voxels

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