Skip to main content

Research Repository

Advanced Search

An automated 3D modeling of topological indoor navigation network

Gold, Christopher M.; Jamali, Ali; Abdul Rahman, Alias; Boguslawski, Pawel; Kumar, Pankaj; Gold, Christopher


Christopher M. Gold

Ali Jamali

Alias Abdul Rahman

Pankaj Kumar

Christopher Gold


© 2015, Springer Science+Business Media Dordrecht. Indoor navigation is important for various applications such as disaster management, building modeling, safety analysis etc. In the last decade, indoor environment has been a focus of wide research that includes development of indoor data acquisition techniques, 3D data modeling and indoor navigation. In this research, an automated method for 3D modeling of indoor navigation network has been presented. 3D indoor navigation modeling requires a valid 3D model that can be represented as a cell complex: a model without any gap or intersection such that two cells (e.g. room, corridor) perfectly touch each other. This research investigates an automated method for 3D modeling of indoor navigation network using a geometrical model of indoor building environment. In order to reduce time and cost of surveying process, Trimble LaserAce 1000 laser rangefinder was used to acquire indoor building data which led to the acquisition of an inaccurate geometry of building. The connection between surveying benchmarks was established using Delaunay triangulation. Dijkstra algorithm was used to find shortest path in between building floors. The modeling results were evaluated against an accurate geometry of indoor building environment which was acquired using highly-accurate Trimble M3 total station. This research intends to investigate and propose a novel method of topological navigation network modeling with a less accurate geometrical model to overcome the need of required an accurate geometrical model. To control the uncertainty of the calibration and of the reconstruction of the building from the measurements, interval analysis and homotopy continuation will be investigated in the near future.


Gold, C. M., Jamali, A., Abdul Rahman, A., Boguslawski, P., Kumar, P., & Gold, C. (2017). An automated 3D modeling of topological indoor navigation network. GeoJournal, 82(1), 157-170.

Journal Article Type Article
Acceptance Date Sep 25, 2015
Online Publication Date Sep 25, 2015
Publication Date Feb 1, 2017
Journal GeoJournal
Print ISSN 0343-2521
Electronic ISSN 1572-9893
Publisher Springer Verlag
Peer Reviewed Peer Reviewed
Volume 82
Issue 1
Pages 157-170
Keywords indoor surveying, automation, 3D data modeling, indoor navigation, topology
Public URL
Publisher URL
Additional Information Additional Information : The final publication is available at Springer via


You might also like

Downloadable Citations