PurposeThe purpose of this paper is to validate a framework for spatial representation, aka the spatial representation framework (SRF), to define spaces and building information required by people with visual impairment as a foundation of indoor maps for indoor navigation systems.Design/methodology/approachThe SRF was first created with seven main components by a review of the relevant literature and state-of-the-art technologies shown in the preliminary study. This research comprised of two tasks: investigating problems and behaviors while accessing spaces and buildings by visually impaired people (VIP) and validating the SRF where 45 participants were recruited (30 VIP and 15 experts).FindingsThe findings revealed a list of problems and challenges were used to validate and redefine the spatial representation, which was validated by both VIP and experts. The framework subsequently consisted of 11 components categorized into five layers, each layer of which is responsible for a different function.Research limitations/implicationsThis framework provides essential components required for building standard indoor maps as a foundation for indoor navigations systems for people with visual impairment.Practical implicationsThis framework lays the foundation for a range of indoor-based applications by using this SRF to represent indoor spaces. Example applications include: indoor navigation by people with disabilities, robots and autonomous systems, security and surveillance, and context and spatial awareness.Originality/valueThis paper presents the validated spatial representation for indoor navigation by people with visual impairment with its details and description, methodology, results and findings of the validation of the SRF.