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Geometric, topological & semantic analysis of multi-building floor plan data

Generating a comprehensive model of a university campus or other large urban space is a challenging undertaking due to the size, geometric complexity, and levels of rich semantic information contained in inhabited environments. This thesis presents a framework for constructing a topological representation of large environments from labeled floor plan geometry. An exhaustive classification of adjacency types is provided for a university infrastructure including roads, walkways, green-space, and the detailed interior spaces of campus buildings. A prototype application has been developed that provides custom routes on the MIT campus using the proposed data framework. The application is designed to assist campus visitors in finding their way from one location to another, with the additional ability of specifying route constraints. We provide an interface for collaborative tagging of geographical locations on the MIT campus, designed for interfacing with users to collect semantic data. The database will serve as a collective record of the public’s knowledge of campus. The main motivation of this work is to develop an intuitive, human-centered approach to navigation systems. This thesis presents an application for generating efficient routes between locations on MIT’s campus with coverage of both interior and exterior environments. A second application, the MIT WikiMap, aims to generate a more expressive record of campus spaces by drawing from the knowledge of its inhabitants. Thesis supervisor: Seth Teller Title: Associate Professor of Electrical Engineering & Computer Science 4 Geometric, topological & semantic analysis of multi-building floor plan data