A Method to Incorporate Floor Plan Constraints into Indoor Location Tracking: A Voronoi Approach

Figure 2

(a) A portion of the building after using heuristics to replace swinging doors with door segments. The zigzag lines a, b, c, and d show where more door segments are needed. (b) The result of adding portions of the line segment Voronoi diagram where the opposition angle is <146°.

(a)

(b)