Research Article
A Method to Incorporate Floor Plan Constraints into Indoor Location Tracking: A Voronoi Approach
Figure 3
The typical behavior of the pruned line segment Voronoi for a missing doorway opening. The opposition angle increases from 120° to 180° as you go from to , then it drops to 120° at . The distances from the path to the doorway are 1.166 times as high at and as at .