期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2010
卷号：XXXVIII Part 4
出版社：Copernicus Publications
摘要：In this paper, we present an approach for the modeling of building interiors by a user who is equipped with a navigation system, whichintegrates MEMS IMU data processing with automatic interpretation of photos of evacuation plans. Such emergency plans for theevacuation of buildings are compulsory for public buildings in a number of countries. They consist of an approximate floor plan, thecurrent position and escape routes. Additionally, semantic information like stairs, elevators or the level number may be found. If animage of such a floor plan is captured by a potential user, this information is made explicit again by a suitable raster-to-vectorconversion.The resulting approximate indoor building model can then refined by semi-automatic data collection. Similar to outdoorscenarios like OpenStreetMap, features of interest can be collected interactively while the user moves through the building. By thesemeans the entrances of rooms, positions of windows, facilities etc can be integrated into the available indoor model. However, thispresumes a suitable positional accuracy during indoor navigation. This is realized using inertial measurements from a low-cost MEMSIMU. Their evaluation by a ZUPT-(zero velocity update)-based algorithm is further supported by integrating information from theevacuation plan like the initial position of the user at the location of the plan. Furthermore, typical constraints for indoor environmentslike detected stairs or an assumed movement parallel to outer walls are applied to eliminate drift effects of the used low-cost sensorsystem. This provides a suitable accuracy to allow for an efficient map refinement
