A. Context-Based Navigation Map
The module stores a 2-D map representing the floor plan of
the building and a map database that contains landmark
information (name of place, local x, y positions, etc). We
define landmarks as more permanent features that are
detectable via non-visual senses (examples are walls, floor
textures, etc.) and cues as more temporary features (examples
are aromas, sounds that occur at certain times, etc). The map
also contains context data relative to each landmark and cue,
including non-visual information categorized into four types:
smell, sound, touch (hands/feet), and temperature. For
example, a coffee stand in a building can have sensory cues for
the smell of food and the sound of coffee being made. A touch
sensory landmark can be a floor surface change. Each
landmark or cue has a range of influence based on the distance
it can be perceived by humans. There are also special cases,
such as road information which indicates whether the flow of
traffic comes from the left or right side.