关键词: 关键词: 三维室内地图数据 八叉树 邻居搜索 封闭性约束

Abstract: Abstract: The octree-based indoor three-dimensional map storage method has higher retrieval efficiency than the conventional framing storage method. However, its traditional neighbor search algorithm needs to traverse all 26 neighbor nodes around the target node each time. When the scene is large, the retrieval efficiency is not high. In this paper, a closed constraint is added on the basis of the traditional octree model, and only the neighbor nodes that are in the same closed space as the target node are searched and saved, which is more suitable for the characteristics of more indoor closed areas. Experimental results show that under the indoor environment, the method is greatly reduced in time compared to traditional map data retrieval methods and is stable (in the worst case O(1)); compared with the method proposed by Aizawa and Tanaka Smaller search costs.

Key words: Keywords: 3D indoor map data octree neighbor search closedness constraint