Generating comfortable navigable space for 3D indoor navigation considering users’ dimensions

Most existing indoor navigation methods implicitly treat indoor users as ideal points. However, the ignorance of individual 3D indoor space needs may result in that navigation users do not have enough space or comfortable space to move in a real situation. Therefore, this paper proposes a novel human-oriented navigation approach that considers users’ dimensions and interactions with indoor objects to establish comfortable navigable space. First, object space (OSpace) for users is derived according to their types (i.e., non-disabled people or disabled people) and functional space (F-Space) for indoor objects is determined according to their functions, locations, sizes, and interactions. Then, narrow gaps where users cannot pass through easily are calculated based on indoor obstacles defined by O-Space, the use of F-Space, and stationary objects. Finally, comfortable navigable space is established by excluding inappropriate sealed spaces that wrap indoor obstacles and narrow gaps of the entire indoor space. Two indoor navigation cases were conducted and the results demonstrate that our method could provide comfortable space and user-friendly paths that navigation users can navigate easily without stress. Furthermore, our method also shows great potential for improving user experience during navigation, especially in unfamiliar indoor environments and even emergencies.