Modeling and simulating assistive environments in 3-D with the YAMAMOTO toolkit

We present the map modeling toolkit Yamamoto, which allows to efficiently model and design assistive building environments in 3-D. We focus on the tool´s ability to represent and simulate sensors and actuators, i.e. navigational beacons used for indoor positioning and navigation purposes. An interactive avatar can be used to simulate and evaluate location-based applications in the virtual model. Vice versa, the model can be used to visualize the state of the real world, including the location of the user and the content of public displays.