{"id":"https://openalex.org/W3007887123","doi":"https://doi.org/10.1109/tii.2020.2974252","title":"Accurate and Efficient Indoor Pathfinding Based on Building Information Modeling Data","display_name":"Accurate and Efficient Indoor Pathfinding Based on Building Information Modeling Data","publication_year":2020,"publication_date":"2020-02-18","ids":{"openalex":"https://openalex.org/W3007887123","doi":"https://doi.org/10.1109/tii.2020.2974252","mag":"3007887123"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2020.2974252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.2974252","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100687812","display_name":"Xiaoping Zhou","orcid":"https://orcid.org/0000-0001-5278-6576"},"institutions":[{"id":"https://openalex.org/I62853816","display_name":"Beijing University of Civil Engineering and Architecture","ror":"https://ror.org/02yj0p855","country_code":"CN","type":"education","lineage":["https://openalex.org/I62853816"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoping Zhou","raw_affiliation_strings":["Beijing Key Laboratory of Intelligent Processing for Building Big Data, Beijing University of Civil Engineering & Architecture, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5278-6576","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Intelligent Processing for Building Big Data, Beijing University of Civil Engineering & Architecture, Beijing, China","institution_ids":["https://openalex.org/I62853816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077963555","display_name":"Xie Qing-sheng","orcid":"https://orcid.org/0000-0002-6623-5318"},"institutions":[{"id":"https://openalex.org/I62853816","display_name":"Beijing University of Civil Engineering and Architecture","ror":"https://ror.org/02yj0p855","country_code":"CN","type":"education","lineage":["https://openalex.org/I62853816"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingsheng Xie","raw_affiliation_strings":["Beijing Key Laboratory of Intelligent Processing for Building Big Data, Beijing University of Civil Engineering & Architecture, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6623-5318","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Intelligent Processing for Building Big Data, Beijing University of Civil Engineering & Architecture, Beijing, China","institution_ids":["https://openalex.org/I62853816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079800756","display_name":"Maozu Guo","orcid":"https://orcid.org/0000-0001-6228-6276"},"institutions":[{"id":"https://openalex.org/I62853816","display_name":"Beijing University of Civil Engineering and Architecture","ror":"https://ror.org/02yj0p855","country_code":"CN","type":"education","lineage":["https://openalex.org/I62853816"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maozu Guo","raw_affiliation_strings":["Beijing Key Laboratory of Intelligent Processing for Building Big Data, Beijing University of Civil Engineering & Architecture, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6228-6276","affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Intelligent Processing for Building Big Data, Beijing University of Civil Engineering & Architecture, Beijing, China","institution_ids":["https://openalex.org/I62853816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101594211","display_name":"Jichao Zhao","orcid":"https://orcid.org/0000-0002-5342-5083"},"institutions":[{"id":"https://openalex.org/I98227222","display_name":"China National Petroleum Corporation (China)","ror":"https://ror.org/05269d038","country_code":"CN","type":"company","lineage":["https://openalex.org/I98227222"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jichao Zhao","raw_affiliation_strings":["China National Petroleum Corporation (CNPC) Managers Training Institute, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China National Petroleum Corporation (CNPC) Managers Training Institute, Beijing, China","institution_ids":["https://openalex.org/I98227222"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100404691","display_name":"Jia Wang","orcid":"https://orcid.org/0009-0006-9377-8779"},"institutions":[{"id":"https://openalex.org/I62853816","display_name":"Beijing University of Civil Engineering and Architecture","ror":"https://ror.org/02yj0p855","country_code":"CN","type":"education","lineage":["https://openalex.org/I62853816"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Wang","raw_affiliation_strings":["Beijing Key Laboratory of Intelligent Processing for Building Big Data, Beijing University of Civil Engineering & Architecture, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Intelligent Processing for Building Big Data, Beijing University of Civil Engineering & Architecture, Beijing, China","institution_ids":["https://openalex.org/I62853816"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.5698,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.94689637,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"16","issue":"12","first_page":"7459","last_page":"7468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12698","display_name":"3D Modeling in Geospatial Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12698","display_name":"3D Modeling in Geospatial Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.9374798536300659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6992806792259216},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6866251230239868},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.6553493738174438},{"id":"https://openalex.org/keywords/topological-map","display_name":"Topological map","score":0.6245234608650208},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.47047120332717896},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.428875207901001},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.355299174785614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2499246597290039},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.2065826654434204},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2056180238723755},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1907263696193695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12308937311172485}],"concepts":[{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.9374798536300659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6992806792259216},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6866251230239868},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.6553493738174438},{"id":"https://openalex.org/C199538142","wikidata":"https://www.wikidata.org/wiki/Q573980","display_name":"Topological map","level":4,"score":0.6245234608650208},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.47047120332717896},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.428875207901001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.355299174785614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2499246597290039},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.2065826654434204},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2056180238723755},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1907263696193695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12308937311172485},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2020.2974252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.2974252","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1239053090","display_name":null,"funder_award_id":"71601013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3290235442","display_name":"\u53ef\u5fae\u5206\u6df1\u5ea6\u6ce8\u610f\u6a21\u578b\u53ca\u5176\u53c2\u6570\u81ea\u9002\u5e94\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61671188","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4605302685","display_name":null,"funder_award_id":"4202017","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G7148930410","display_name":"\u4e2a\u4f53-\u7fa4\u4f53\u65f6\u7a7a\u6d3b\u52a8\u8f68\u8ff9\u6316\u6398\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61871020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1521472129","https://openalex.org/W1598230811","https://openalex.org/W1674119292","https://openalex.org/W1681778506","https://openalex.org/W1868013476","https://openalex.org/W2039367092","https://openalex.org/W2050576295","https://openalex.org/W2050781898","https://openalex.org/W2076795475","https://openalex.org/W2078247916","https://openalex.org/W2080644295","https://openalex.org/W2084669237","https://openalex.org/W2092507038","https://openalex.org/W2102242218","https://openalex.org/W2111025587","https://openalex.org/W2120037042","https://openalex.org/W2135125135","https://openalex.org/W2137165353","https://openalex.org/W2138761185","https://openalex.org/W2153412857","https://openalex.org/W2169751639","https://openalex.org/W2173199691","https://openalex.org/W2364251480","https://openalex.org/W2617632515","https://openalex.org/W2790531279","https://openalex.org/W2793988715","https://openalex.org/W2805996007","https://openalex.org/W2883028320","https://openalex.org/W2946342495","https://openalex.org/W2946409778","https://openalex.org/W2949856845","https://openalex.org/W2963123724","https://openalex.org/W2989898536","https://openalex.org/W6639056003","https://openalex.org/W6763727657"],"related_works":["https://openalex.org/W2390479142","https://openalex.org/W3007887123","https://openalex.org/W892968198","https://openalex.org/W2196737264","https://openalex.org/W2055247968","https://openalex.org/W1987760058","https://openalex.org/W2140575869","https://openalex.org/W1976440668","https://openalex.org/W2095817671","https://openalex.org/W3132278911"],"abstract_inverted_index":{"Pathfinding":[0],"is":[1,19,61,93,112,134,150,173],"a":[2,24,74,130,147],"fundamental":[3],"problem":[4],"for":[5],"many":[6],"areas,":[7],"e.g.,":[8],"robotics,":[9],"automation,":[10],"computer-aided":[11],"design,":[12],"and":[13,67,78,82,104,120,123,158,169,189],"computer":[14],"graphics.":[15],"Although":[16],"outdoor":[17],"pathfinding":[18,22,69,85,171,195],"fledged,":[20],"indoor":[21,31,84,194],"remains":[23],"challenge":[25],"due":[26],"to":[27,42,64,136],"the":[28,45,49,54,58,97,101,105,109,115,138,143,155,164,178,181,187,192],"lack":[29],"of":[30,99,163,180,191],"maps.":[32],"Currently,":[33],"some":[34],"efforts":[35],"have":[36],"utilized":[37],"building":[38],"information":[39],"modeling":[40],"(BIM)":[41],"generate":[43],"either":[44,53],"grid-based":[46,55,102,110,144,156],"map":[47,56,60,77,92,103,111,140,149,157],"or":[48,57],"topological":[50,59,106,139,159],"map.":[51,107,145,160],"However,":[52],"not":[62],"sufficient":[63],"provide":[65],"accurate":[66,81,168],"efficient":[68,83,170],"service.":[70],"This":[71],"article":[72],"proposes":[73],"novel":[75],"grid-topological":[76,91,148,165,182],"develops":[79],"an":[80,167],"scheme":[86],"based":[87],"on":[88],"BIM.":[89],"The":[90],"modeled":[94],"jointly":[95],"adopting":[96],"advantages":[98],"both":[100,154],"First,":[108],"generated":[113],"using":[114,142],"BIM":[116],"data":[117,125],"by":[118,152],"extracting":[119],"mapping":[121],"geometric":[122],"semantic":[124],"into":[126],"planar":[127],"grids.":[128],"Second,":[129],"grid":[131],"thinning":[132],"algorithm":[133,172],"proposed":[135,193],"produce":[137],"directly":[141],"Third,":[146],"presented":[151],"combining":[153],"On":[161],"top":[162],"map,":[166,183],"developed.":[174],"Empirical":[175],"studies":[176],"proved":[177],"effectiveness":[179],"as":[184,186],"well":[185],"accuracy":[188],"efficiency":[190],"algorithm.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-25T08:15:23.626066","created_date":"2025-10-10T00:00:00"}