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Spaces

Spaces

Perceiving and describing space:

  • Empty or containing things
  • Unlimited or bounded
  • Physical or imaginary

Cell: is a bounded portion of space (a space unit)

Space in Positioning and Localization: partitioning space from the sensor reception perspective

Space classification according to reception of GPS signal:

  • Open outdoors: outside building, open sky condition, enough satellites for positioning
  • Semi-outdoors: outside building, slight coverage (e.g. wooded area), some satellites availability
  • Light indoors: inside building, slight coverage (e.g. areas around windows), some satellites availability
  • Deep indoors: inside building, no satellite coverage

Types of spaces for GPS
Figure 1: Types of spaces for GPS

Spaces are abstracted and represented using:

  • Boundary Representation (BRep)
  • Constructive Solid Geometry (CSG)
  • Spatial Occupancy Enumeration

Navigation network (supported by Poincaré duality theory):

  • Nodes: associated with space units, can contain semantic information about location
  • Edges: represent connectivity between spaces
  • Costs (of edges): indicate distance or travel time between nodes

Space partition in 3D:

  • Bottom enclosure
  • Side enclosure
  • Top enclosure
Field Classification Physical Boundary
Navigation Functional space, Object space, Remaining space & Indoor, Semi-indoor, Semi-outdoor, Outdoor Architectural (e.g. wall, floor, roof, fence)
Positioning and Localization Indoor, Semi-outdoor, Outdoor Building, waterbody, bridge, tunnel