1. Indoor surveying method for 3D indoor topology retrieval for escape route planning
Geo-spatioal information infra-structure Lab, Faculty of Geoinformation and Real Estate, Universiti Teknologi Malaysia (UTM), Malaysia

2. An Automated 3D Indoor Topological Navigation Network Modelling

3. Background
People spend almost 90% of their life in indoor building environment (Klepeis et al. 2001; Li and Lee 2010). Indoor building navigation is therefore necessary for moving objects like human to navigate. Indoor building navigation model has different challenging issues such as suitability of 3D building models, indoor navigation networks, vertical and horizontal connectivity, which are required to be addressed.

4. Background
An example of door-to-door routes (Liu and Zlatanova, 2011)

5. Background
Cell centers and paths overlaid with a floor Plan (Lorenz et al. 2006)

6. Background
Visibility criteria based partitioning result (Stoffel et al. 2007)

7. Background
Indoor visibility structure and conventional dual graph model (Liu and Zlatanova, 2011)

8. Objectives
To propose a new method of cheap and rapid indoor building surveying
To develop a new method of automated indoor topological navigation network modelling
To assess the accuracy of the proposed surveying method for 3D indoor topological network modelling

9. Rapid surveying method
Surveying devices: a) Trimble Total Station M3 b) Trimble LaserAce 1000 C) Leica scanstation C10

10. Rapid surveying method
Laser scanner
a point cloud needs to be processed to obtain a 3D model
time consuming, but detailed and precise
expensive equipment
Total Station
x, y, z coordinates of points
precise measurements
not very convenient

11. Rapid surveying method
Rangefinder
Advantages
handy
relatively cheap
rapid measurements
x, y, z coordinates
Disadvantages
not as precise as the laser scanner or Total Station
Trimble Laserace 1000

12. Indoor Building Surveying
In this research, we conduct a comparative analysis of different surveying devices in the context of indoor surveying. This comparative analysis allows us to validate the use of a rangefinder in an indoor environment. Models reconstructed from a laser scanner point cloud and data collected with Total Station were used as benchmarks for the rangefinder.

13. Methodology

14. 3D Building Modeling
3D Building Modeling (Trimble M3)

15. 3D Building modeling (Trimble LaserAce 1000)

16. 3D Building modeling (Trimble LaserAce 1000)
Surveying Benchmarks

17. 3D Indoor Navigation (Intersect)

18. 3D Indoor Navigation (Touch)

19. 3D Indoor Navigation (Gap)

20. 3D Indoor Navigation Network

21. 3D Indoor Navigation Network

22. Shortest Path (Dijkstra)

23. Graphical User Interface

24. 3D Indoor Building Environment Reconstruction using calibration of Rangefinder Data

25. Trimble LaserAce 1000 Accuracy

26. Trimble LaserAce 1000 Accuracy
Surveying Equipment
Distance Accuracy
Horizontal Angle Accuracy
Vertical Angle Accuracy
Leica scanstation C10
±4 mm
12”
Trimble LaserAce 1000
±100 mm
7200”
720”

27. Least Square Adjustment
Least square adjustment X = (ATWA) -1ATWL = N-1ATWL XA=RXX XC + RXYYC+ RXZ ZC+PX YA=RYX XC + RYYYC+ RYZ ZC+PY ZA=RZX XC + RZYYC+ RZZ ZC+PZ

28. Least Square Adjustment
Accuracy of the LaserAce 1000 achieved by calibration for twelve selected points using the Leica scanstation C10.
Point Number
X LaserAce
Y LaserAce
Z LaserAce
X Leica C10
Y Leica C10
Z Leica C10 1
10.394
3.7777
1.1067
10.424
3.725
1.105 2
2.0673
2.3577
1.1122
2.131
2.249
1.109 3
2.0098
3.2969
1.1098
1.956
3.355 4
1.4469
3.1347
1.1094
1.396
3.257
1.116 5
0.0059
10.678
1.11
0.047
10.605
1.108 6
8.8322
12.192
1.1128
8.803
12.246
1.115

29. Least Square Adjustment
Model calibrated and reconstructed based on the least square adjustment; calibrated Trimble LaserAce 1000 (Red dash lines), Leica scanstation C10 (Blue lines) and non-calibrated Trimble LaserAce 1000 (black lines).

30. Least Square Adjustment
Rangefinder data was calibrated by least square adjustment (absolute orientation) which shows a maximum error of ±13 centimetres and a minimum error of ±6 centimetres using the Leica scanstation C10 as a benchmark.

31. Interval Analysis and Homotopy Continuation
The geometric loci of each corner of a room as a function of all the measurements

32. Interval Analysis and Homotopy Continuation
Room 1 construction from original range finder measurements (red) and interval valued homotopy continuation calibration of horizontal angles measurements (green)

33. Interval Analysis and Homotopy Continuation
Calibration  of  the  horizontal  angle  measurements  of  the  rangefinder  using  theodolite horizontal angle measurements
Point
Horizontal angle rangefinder (decimal degrees)
Horizontal angle first reading theodolite (degrees min sec)
Horizontal angle 2nd reading theodolite (degrees min sec)
Average Difference horizontal angle theodolite (decimal degrees)
Calibrated rangefinder horizontal angle
Difference between consecutive calibrated horizontal angles 1
268.9 2
336.0 3
99.6 4
166.1 5
98.5

34. Trimble M3 (3D building models)

35. Trimble M3 (3D indoor topological navigation network)

36. 3D Building Modeling
3D Building Modeling (Trimble M3)

37. Thank you