数字校园室内外一体化三维导航路径规划

3D Navigation Path Planning of Indoor and Outdoor Integration in Digital Campus

室内外一体化导航是目前的研究热点,相对于较为成熟的室外导航技术,室内定位技术相对滞后,因此无法满足现实生活中日益增长的室内外一体化导航需求。对于日新月异的智能机器人或无人机技术,传统的以二维图为基础的导航路径规划无法满足其对室内外精确导航的需求。因此,如何快速有效地实现室内外一体化三维导航路径规划成为迫切需要解决的问题。本文基于CityEngine和SketchUp三维设计平台,以北京建筑大学为例,利用校园遥感影像数据,建筑属性数据及学院楼建筑平面图,实现了数字校园室内外精细三维建模,并在此基础上,利用Arc GIS建模工具对校园室内外三维导航路径网络进行提取与规划,为智能机器人或无人机室内外一体化智能导航提供了技术支持。

Indoor and outdoor integrated navigation is a current research hotspot. Comparing to the more mature outdoor navigation technology,indoor positioning technology lags behind,so it can not meet the growing demand for indoor and outdoor integrated navigation in real life. For the new intelligent robots or drones technology,the traditional 2 D map-based navigation path planning cannot meet the requirements for accurate indoor and outdoor navigation. Therefore,how to quickly and efficiently realize indoor and outdoor integrated 3 D navigation path planning becomes an urgent problem. This paper uses campus remote sensing image data,building attribute data and college building floor plan of Beijing University of Civil Engineering and Architecture,based on City Engine and Sketch Up 3 D design platform,realizes digital 3 D indoor and outdoor fine-scale modeling. Then,we use modeling tools of Arc GIS to extract and plan the indoor and outdoor 3 D navigation path network,which can be used for intelligent robots or unmanned aerial vehicles,and provide technical support on integrating indoor and outdoor intelligent navigation.