<p><strong>Abstract.</strong> Indoor route planning, affected by many constraints, needs to take consideration of both the spatial geometry, environmental attribute information of the scene and the application preferences. Thus, it requires a data model that can integrate multiple constraints to model the indoor scene; meanwhile, it’s also necessary to take into account the isotropic features of the indoor pathfinding behavior and the superposition analysis of multi-constraint conditions by the route-finding algorithm. Based on this, this paper proposes a multi-factor constrained A* algorithm model based on the hexagonal grid, that is using an isotropic regular hexagon to model an indoor scene, and taking constraint conditions as heuristic factors to guide the route-finding algorithm so as to get the route. Based on this model, distance, recognition and pedestrian density are used as examples to illustrate the impact of constraints on route planning and their organic combination with scene modeling and route-finding algorithms. The experimental results show that this scheme can effectively take into account the constraints such as distance, landmark strength, and pedestrian heat, thus providing a route that is more in line with the application preferences.</p>
Shallow2Deep: Indoor scene modeling by single image understanding
