fixed table and changes of frank d
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\label{fig:museumMapMesh}
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\end{subfigure}
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\caption{
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Floorplan and transition data structures for the ground floor of the building.
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Floorplan and transition data structures for the ground floor of the building (\SI{71}{\meter}~x~\SI{53}{\meter}).
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To reach every nook and cranny, the graph based approach (b) requires many nodes and edges.
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The depicted version uses a coarse node-spacing of \SI{90}{\centi\meter} (1700 nodes) and barely reaches all doors and stairs.
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A navigation mesh (c) requires only 320 triangles to tightly reach every corner within the building.
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