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  <front>
    <journal-meta />
    <article-meta>
      <title-group>
        <article-title>Seek and Go: Data, Algorithms, and Interactive Tools for Pedestrian Navigation*</article-title>
      </title-group>
      <contrib-group>
        <contrib contrib-type="author">
          <string-name>K. Koritsoglou</string-name>
          <email>kkoritsoglou@uoi.gr</email>
          <xref ref-type="aff" rid="aff0">0</xref>
        </contrib>
        <contrib contrib-type="author">
          <string-name>P. Laskas</string-name>
          <email>laskasp15@gmail.com</email>
          <xref ref-type="aff" rid="aff0">0</xref>
        </contrib>
        <contrib contrib-type="author">
          <string-name>V. Patras</string-name>
          <email>vpatras@gmail.com</email>
          <xref ref-type="aff" rid="aff0">0</xref>
        </contrib>
        <contrib contrib-type="author">
          <string-name>I. Fudos</string-name>
          <email>fudos@uoi.gr</email>
          <xref ref-type="aff" rid="aff0">0</xref>
        </contrib>
        <aff id="aff0">
          <label>0</label>
          <institution>Department of Computer Science and Engineering, University of Ioannina</institution>
          ,
          <addr-line>Ioannina</addr-line>
          ,
          <country country="GR">Greece</country>
        </aff>
      </contrib-group>
      <abstract>
        <p>In recent years, the concept of accessibility is receiving increased attention at political, scientific and social level. Furthermore, effectively handling accessibility issues and addressing the special needs of people with disabilities can provide a robust business environment and significant market exploitation opportunities. To that end, the need for accessibility, especially in urban environments, is vital and ICT can play a key role towards enhancing accessibility. Although digital geographic platforms like Google Maps or Bing Maps provide user-friendly interfaces for navigating through cities, they were designed with emphasis on the needs of motor vehicles and therefore information regarding pedestrian routes is still considered very limited. This paper reports on the development of an innovative platform called Seek &amp; Go, which is a holistic aid application offering navigation services, especially designed for pedestrians with mobility problems and special accessibility requirements. A structured approach to the development of a pedestrian navigation data model that captures all required information is introduced. Finally, a pilot case is presented for the historical center of Thessaloniki.</p>
      </abstract>
      <kwd-group>
        <kwd>1 accessibility</kwd>
        <kwd>pedestrian navigation</kwd>
        <kwd>urban mobility</kwd>
        <kwd>digital maps</kwd>
        <kwd>wheelchair users</kwd>
        <kwd>disability</kwd>
      </kwd-group>
    </article-meta>
  </front>
  <body>
    <sec id="sec-1">
      <title>1. Introduction</title>
      <p>
        Accessibility, as a term, describes all those
environment characteristics which allow all
citizens without discrimination of age, gender or
other special characteristics, to be able to
independently, comfortably and safely use and
access the service infrastructures and goods that
are offered by the wider social environment [
        <xref ref-type="bibr" rid="ref1">1</xref>
        ].
Accessibility is thus a wide concept, the provision
of which affects almost every aspect of everyday
life [2]. The term also states that all structures and
facilities should be accessible so that they can be
used, ensuring autonomy of movement for the
individual [3].
      </p>
      <p>Access is a fundamental element of structured
society environments as it allows citizens to
participate in any social and economic activity
without any exclusions. Limited mobility
significantly reduces the level of independence
and autonomous living of certain population
groups as in some level depends on the ability to
access daily needs such as nutrition, health care,
education, and employment [4].</p>
      <p>Although digital geographic platforms like
Google Maps or Bing Maps provide user-friendly
interfaces for navigating through cities, they were
designed with emphasis on the needs of motor
vehicles and therefore information regarding
pedestrian routes is still considered very limited,
as most of them contain little or no information
about the accessibility of pedestrian networks [5].</p>
      <p>To support people with disabilities and special
needs, many smartphone applications that focus
on accessibility issues have been developed
during the past years. Despite the progress made
in pedestrian navigation in urban centers thanks to
the emergence of various mobile applications,
people with reduced mobility still face obstacles
and serious difficulties as they move through their
daily lives. In this context, the most important
problem remains the collection and integration of
accessibility information for the physical urban
environment on digital maps [6].</p>
      <p>This paper describes the methodology used to
develop a simple pedestrian data model that
incorporates all required information for the
design of a user-friendly interactive navigation
system in the terms of accessibility and “Design
for All” [7].</p>
    </sec>
    <sec id="sec-2">
      <title>2. Data Model and Services</title>
      <p>A pedestrian section is considered accessible only
when its width is more than 1.5 meters, and its
surface is smooth. In addition, there should be no
obstacles into it that make the wheelchair
movement difficult or impossible. Various floor
elements that create elevation differences such as
stairs or surface slopes (slopes of more than 10%
are not accessible without the help of an attendant)
should also be recorded and evaluated.</p>
      <p>One of the main difficulties when filling
questionnaires related to geolocation details, is to
align the questions with self-explanatory entities
on the map for easier identification.</p>
      <p>In the Seek &amp; Go data collection application
an innovative approach that enhances and
improves the user experience is introduced. Users
are guided to first select the appropriate entity
among; (a) street segments, (b) points of interests
(POIs), (c) segment connections, and (d) POIs /
entrances connections. Each selection of these
entities displays simplified steps on the screen that
guide users to draw the area of interest by tapping
on the map. The app, restricts the movement of the
drawing elements by enforcing geometric and
functional constraints. This helps to avoid errors
and speed up data collection. However, a second
validation step is employed by highly experienced
engineers.</p>
      <p>Figure 1 depicts an indicative screenshot of
the application when a segment entity is selected,
and a list of corresponding surveys is shown to
inform users which questionnaires are left
unanswered.</p>
      <p>Each single entity on the map, corresponds to
the appropriate survey which contains questions
about accessibility details. In this context,
specially designed questionnaires have been
designed for each one of the four entities.</p>
      <p>The Seek &amp; Go application follows the
microservices design approach and is composed
of three loosely coupled layers. This approach
allows independent deployment and distinct
scalability with fewer dependencies, among each
layer, that leads to easier maintenance, faster
updates, clearer communication interface and
faster failure recovery. The overall application is
implemented as a Progressive Web App (PWA)
using Service Workers as the virtual proxy
between the browser and the network since
supporting offline use was a major requirement
due to the nature of app, which is mainly for being
used on the move. More specifically, the layers of
the Seek &amp; Go conceptual architecture are
illustrated in Figure 2.</p>
    </sec>
    <sec id="sec-3">
      <title>3. User Experience</title>
      <p>The pedestrian data model collected from the
previous process yields a graph, the traversal of
which produces the routes that users search for.
More specifically, in Figures 3 and 4, the nodes of
the graph are shown with red markers that contain
their identifier. The accessible edges are
represented in green, while the less accessible
ones are represented in yellow. Finally, the
crosswalks are marked in blue. In the use-case
shown in Figure 3, the graph of the specific area
is initially presented on the Google maps web
service, followed by the shortest route between
the source and the target node, as well as the most
accessible one as shown in Figure 4.</p>
      <p>The Seek &amp; Go mobile routing application
initially receives the user's current location. If the
user searches for a desired destination, i.e. a point
of interest or a specific address located within the
mapped area, then the search for the shortest and
most accessible route is made by traversing the
graph dataset derived and then the results are
displayed on the maps.</p>
      <p>This is the most important innovative element
of the Seek &amp; Go application compared to the rest
of the accessible routing applications, as the user
knows in advance the route, they will have to
follow to the desired destination. In the rest of the
applications mentioned there is information about
the accessibility level of several destinations, but
none of them contains the accessibility features of
* Acknowledgements: This research has been co‐financed
by the European Regional Development Fund of the
European Union and Greek national funds through the
Operational Program Competitiveness, Entrepreneurship and
the pedestrian sections to aid the navigation of
people with mobility problems in urban areas.</p>
    </sec>
    <sec id="sec-4">
      <title>4. Conclusions</title>
      <p>We have reported on the development of the
Seek &amp; Go platform. We have presented a method
for the systematic collection of georeferenced
accessibility data for pavements, streets and
points of interest in urban conurbations. An
interactive tool has been developed for populating
the backend database with accessibility data,
which is then used to navigate users with
customized needs, improving in this way the
mobility of citizens with disabilities.
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