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With the prevalence of car navigation systems, indoor navigation systems are increasingly attracting attention in the indoor research area. However, the available models for indoor navigation suffer from the problems that architectural constraints are not considered, route planning is only based on 2D planes, users are represented as points without considering their volumes, and different requirements asked for by different users are ignored. Consequently, the routes provided by existing models may not be suitable for different kinds of users like pedestrians, persons in wheelchairs, and persons driving indoor autos. This paper proposes a cube-based model to compute feasible routes for different users according to their widths, heights, and special requirements (e.g., users in wheelchairs prefer the routes without stairs). In this model, an indoor space is first represented by multiple cubes with different types. Then, according to the heights and types of the cubes, possible passages with the maximum widths and heights are generated by merging cubes into large blocks. Based on these blocks, feasible routes are computed by checking the availability of the connectors between different blocks.

Supporting 3D route planning in indoor space based on the LEGO representation