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isprsannals II 2 W1 173 2013

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Figure 2. The 3D building model before subspacing based on connected opening spaces (from top view)
Figure 4. A corridor highlighted after subspacing based on connected opening spaces.
Figure 8.  Flowchart of subspacing of 3D indoor space based on the constraints of the type of locomotion
Table 2. Walking locomotion’s constraints
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