IndoorGML–Candidate Standard for Indoor Spatial … · Layer “WiFi ” Room 1 Room 2 Room ... Indoor Navigation Module –Anchor Node Ground Transportation Network Anchor Node

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IndoorGML – Candidate Standard for Indoor Spatial Information

90th OGC Technical CommitteeWashington, DC

Ki-Joune Li26 March 2014

OGC®

Before starting…

• Not (InDoorGML, Indoor GML, In Door GML)• the correct name is IndoorGML like CityGML

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Not very usefulNot very useful

Tag for indoor space

Tag for indoor space

<Source: Google Earth 3D>

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<Source: Google Earth 3D>

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Applications

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Indoor Geo-PortalIndoor LBS

Indoor mCommerceEmergency Control

Services for handicapped persons

Indoor Robot

Cruise ShipHospital

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Prior work on indoor space

• IFC: Mainly focused on BIM• CityGML: LoD 4: Interior space• KML• others

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Basic Ideas

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Spacea boundless extent in which objects and events occur and have position – in online Britannica

空 間

Emptiness In-Between

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Basic Ideas – Components vs. Space

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IndoorGML as a complement

CityGMLCityGML

KMLKML IFCIFC

IndoorGML

1. Cellular Space2. Network and3. Multi-Layered

Space Model

IndoorGML

1. Cellular Space2. Network and3. Multi-Layered

Space Model

Indoor positioning is out of scope9

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IndoorGML and Other Standards

IFC

KML

CityGML

2D Indoor Floor Plan

IndoorGMLIndoor LBS

Indoor RobotIndoor mCommerce

Services for handicapped

persons

Emergency ControlApplication

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OGC®

IndoorGML based on Cellular Space Model

•

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OGC®

nroom

gml::id=001

`

Option 2: Geometry in IndoorGML

Option 3: No Geometry

CityGML data

IndoorGML data

GM_Solid (or GM_Surface)

Option 1: External

Reference to room in CityGML

Three options to represent geometry of each cell

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Geometry

OGC®

• Poincare Duality– Conversion from original (primal space) to dual space– Given a N-D (e.g. 3D) space,

conversion from k D object à N-k (e.g. 3 – k) D objects

Dual Space3D 0D

2D 1D

Solid Node

Surface(Boundary)

Edge

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Topology between Cells

A Graph

Primary Space

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Cell R2

Cell R1

Cell W4

Cel

l W5

Cell W1

Cell D3

Cell D1

R1

R2

D1

D3

W1

W2

W3

W4

W5

W6

W7

Primal Space Dual Space

EXT

Ext

Cell W7

Cell W3

Cel

l W2

Cel

l W6

Adjacency Graph

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Topology between Cells

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R1

R2

D1

D3

W1

W2

W3

W4

W5

W6

W7

EXT

Connectivity Graph

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Topology between Cells

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Example: Wall and Door as Space Boundary

Cell R2

Cell R1

R1

R2

EXTTopographic Space

B1

D1D3

D4

B2

B3B4

B5

Ext D1

D3

D4 D2

B2

B3B1

B5

B4

Non-navigable Link (Adjacency)

Navigable Link (Connectivity)

Dual Space16

Topology between Cells

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1 2

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A B

AB R2R1

Topographic space WIFI sensor space

RFID sensor space

1 2

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A B

AB

R2R1

1 2

34A AB B R1 R2

Euclidean SpaceEuclidean Space

Dual SpaceDual Space

Multi-Layered Space

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Multi-Layered Space – Inter-layer relation

A

1 2

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AB B

R1 R2

Inter-layer relation, denotes intersecting cells between different space layers

Connectivity(Intra-layer relation) denotes adjacent cells within the same space model

1 2

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A AB B

R1 R2

Topographic space

WFI sensor space

RFID sensor space

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Example – Multi-Layered Space

Non-Navigable SpaceStair

Room 1 Room 2

Room 3

Room 1 Room 2

Room 3bRoom 3a

WiFi A WiFi B

WiFi AB

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Example – Multi-Layered Space

Geometry in IR³ Topology

Layer “Walkable”

Layer “Wheelchair”

Layer “WiFi”

Room 1 Room 2

Room 3bRoom 3a

Outer

Room 1 Room 2

Room 3

Outer

WiFi A WiFi AB

WiFi BOuter

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Semantics

§ Semantic Interpretation of Indoor Space• Classification of Indoor Space• Example – Room, Door, Corridor, Stair Space, Elevator Shaft, Gate

§ Definition of Attributes• Names, Usage, Functions, etc..• Directions• Accessibility

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OGC®

<<Feature>>IndoorNavi::NavigableBoundary

<<Feature>>IndoorCore::CellBoundary

<<Feature>>IndoorCore::CellSpace

<<Feature>>IndoorNavi::

TransferSpace

<<Feature>>IndoorNavi::

ConnectionSpace

<<Feature>>IndoorNavi::AnchorSpace

<<Feature>>IndoorNavi::

GeneralSpace

<<Feature>>IndoorNavi::NavigableSpace

<<Feature>>IndoorNavi::

TransitionSpace

0..1 0..*

boundedby

<<Feature>>IndoorNavi::

TransferBoundary

<<Feature>>IndoorNavi::

AnchorBoundary

<<Feature>>IndoorNavi::

ConnectionBoundary

<<Feature>>IndoorNavi::NonNavigableBoundary

<<Feature>>IndoorNavi::NonNavigableSpace

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Semantic Extension for Navigation

OGC®

Indoor Navigation Module – Anchor Node

Ground Transportation Network

Anchor Node

IndoorGML (Connectivity NRG)

Reference node in ground transportation network

Bidirectional external references

Anchor Node also contains- Conversion Parameters

• rotation origin point (x0, y0, z0) • rotation angles (α, β, γ, along x, y, and z-axis), • rescaling factor (sx, sy, sz), and • translation vector (tx, ty, tz)

- Other attributes• URL of fingerprint map• Address

Anchor Node also contains- Conversion Parameters

• rotation origin point (x0, y0, z0) • rotation angles (α, β, γ, along x, y, and z-axis), • rescaling factor (sx, sy, sz), and • translation vector (tx, ty, tz)

- Other attributes• URL of fingerprint map• Address

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OGC®

Core Module

Basic Components of IndoorGML

IndoorGMLIndoorGML

Connectivity GraphConnectivity Graph

Multi-Layered Space ModelMulti-Layered Space Model

Cellular Space ModelCellular Space Model

Extension Module

Indoor Navigation Module (1.0)Indoor Navigation Module (1.0) FM Module?FM Module? Multimedia Module?Multimedia Module?

Indoor POI?Indoor POI? Robotics Module ?Robotics Module ?

Maybe in IndoorGML 2.0 ?

GML 3.2GML 3.2 ISO 19107ISO 19107

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Semantic Extension – Future Plan

IndoorGML core

Geography Markup Language

<<import>>

<<XSDschema>>

<<ApplicationSchema>>

IndoorNavigation<<Leaf>>

<<import>>

IndoorGML 1.0

Semantic Extension

Indoor Facility Management ?<<Leaf>>

Indoor Robotics ?<<Leaf>>

IndoorGML 2.0

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Use-Case – Venue Map Service (COEX, Seoul)

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Use-Case – Venue Map Service (COEX, Seoul)

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Use-Case – Venue Map Service (COEX, Seoul)

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Use-Case – Venue Map Service (COEX, Seoul)

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Demands from other standards

• ISO/TC204 WG 17 (Nomadic Devices of ITS Systems)– Extension of road navigation standards for covering outdoor space

AND Indoor Space in a seamless way– NWIP: Adopted on May 7, 2012 (ISO 17438-1) – Part I

• IEEE RAS(Robotics and Automation Society)– Indoor maps for localization and navigation of robots– IEEE MDR (Map Data Representation for Robots)

• WG established in Nov. 2011• To be published in 2014

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Useful Links

• indoorgml.net

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