Indoor environments tend to be more complex and more populated when buildings are accessible to the public. The need for knowing where people are, how they can get somewhere or how to reach them in these buildings is thus equally increasing. In this research point clouds are used, obtained by dynamic laser scanning of a building, since we cannot rely on architectural drawings for maps and paths, which can be outdated. The presented method focuses on the creation of an indoor navigation graph, based on IndoorGML structure, in a fast and automated way, while retaining the type of walkable surface. In this paper the focus has been on door detection, because doors are essential elements in an indoor environment, seeing that they connect spaces and are a logical step in a route. This paper describes a way to detect doors using 3D Medial Axis Transform (MAT) combined with the intelligence stored in the path of a mobile laser scanner, showing good first results. Additionally different spaces (e.g. rooms and corridors) in the building are identified and slopes and stairs in walkable spaces are detected. This results in a navigation graph which can be stored in an IndoorGML structure.

Along with the rise of the smart city movement, Internet of Things is an upcoming phenomenon. Objects and devices are becoming more and more wirelessly interconnected, communicating information between themselves and to human beings. As an addition to static sensor networks that gather real-time environmental data, the feasibility of implementing a dynamic sensor network based on LoRa communication is researched. To achieve such a dynamic system, a self-developed sensor platform was constructed, based on the microcontroller LoPy, measuring temperature and humidity. The emphasis of the research is on the localisation of the sensor platforms. A WiFi fingerprinting radiomap was constructed based on available MAC-addresses, their signal strengths, and GPS coordinates. In this method the GPS module is only used for the composition of the radiomap. The quality of the radiomap methodology was assessed by constructing it of measurements gathered in four days, and testing it for the remaining three days. This test gave a correctness of 50% while another 38% of measurements were localised in a neighbouring cell. The quality of the collected sensor data turned out to be dependent on the weather conditions and the placement location on the carrier vehicle. Another topic of research was LoRa communication, which was deemed as very limited for dynamic implementations, as the sending of location-related data takes up a large part of the already limited message size.