Our framework allows the same navigation network extraction approaches to be used and therefore enables seamless indoor/outdoor path computation for single or combinations of locomotion modes. We provide strict definitions for the four space categories. To overcome these shortcomings, we introduce a new space definition framework in which the entire built environment is categorized into indoor, outdoor, semi-indoor and semi-outdoor spaces. Many spaces in the built environment are not strictly indoor or outdoor spaces and are thus often omitted from navigation networks, further limiting navigation options. Linking such networks via particular nodes is possible but restrictive. the portion or extent of this in a given instance extent or room in three dimensions: the space occupied by a body. While indoor systems rely on indoor space subdivision approaches, current outdoor systems utilize road-based network approaches. the unlimited or incalculably great three-dimensional realm or expanse in which all material objects are located and all events occur. However, indoor and outdoor networks have different origins. Navigation systems generally rely on a network (nodes and edges) as an abstraction of underlying space availability. For humans and robots to navigate seamlessly through such environments, new flexible approaches need to be developed. Contemporary public buildings are becoming conglomerates of open, semi-open and closed spaces, with indoor, outdoor and underground sections.
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