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With the prevalence of car navigation systems, indoor navigation systems are increasingly attracting attention in the indoor research area. However, the available models for indoor navigation suffer from the problems that architectural constraints are not considered, route planning is only based on 2D planes, users are represented as points without considering their volumes, and different requirements asked for by different users are ignored. Consequently, the routes provided by existing models may not be suitable for different kinds of users like pedestrians, persons in wheelchairs, and persons driving indoor autos.
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