Figure 1.
The H S R F 2 waiting hall measures 72 by 180 metres and contains 20 ticket gates arranged in 2 rows. Each gate structure includes an elevator. The central waiting area contains seat blocks arranged in 3 rows across multiple groups. A start area contains 5 marked starting points. Large boundary obstacles define much of the hall perimeter, with additional obstacles distributed between the gate rows and seating area. The horizontal axis represents X in metres and the vertical axis represents Y in metres.Semantic grid map of the high-speed railway waiting hall