## 1 Introduction
We devoted ourselves to exploring the role of the virtual 3D map in future mixed-reality navigation, which aims to enhance pedestrians' mental satisfaction in urban navigation. To further discuss the effect of the level of detail of the minimap interface on pedestrian satisfaction, we designed two levels of detail for map modes: a normal one with complete spatial and environmental information and a simplified one that filters the irrelevant information. According to the literature review of related works, we found that mental satisfaction in pedestrian navigation is affected by various attributes and should be measured comprehensively. In this work, we utilized three factors to measure the mental satisfaction of pedestrians in exploratory navigation: performance in exploratory navigation, NASA-TLX workload, and user experience. Thus, we investigated which map mode we designed is most suitable and can enhance pedestrians' mental satisfaction. To better answer this question, we summarize the research questions as follows:  
* RQ1: Which map mode can result in a better performance in exploratory navigation? * RQ2: Which map mode can result in a lower perceived workload in exploratory navigation? * RQ3: Which map mode can result in a better user experience in exploratory navigation? The contributions of this work can be summarized as follows:  
(1) Based on the related works, we proposed a 3D minimap interface for mobile mixed-reality navigation to assist with exploratory navigation. We designed two map modes for the experiment to discuss the suitable levels of detail of the interface. We found that participants showed a positive attitude toward our map interface. The simplified map mode could result in a lower perceived workload in exploratory navigation and enhance performance in the specific navigation task. However, we also found that because of the complexity of pedestrians' motivations and needs, the preference for level of detail is dynamic in exploratory navigation. (2) Based on our study, we suggested that researchers in this area should investigate the different levels of detail of the map interface in more specific scenarios. In addition, the other factors affecting mental satisfaction should be explored and studied more comprehensively. We also summarized some findings for the future map interface of mobile mixed-reality navigation in urban exploration. In brief, we suggest further discussing the miniature size, levels of spatial information detail, and map view of the 3D minimap interface in the future. Furthermore, further research should also focus on the detailed interaction between pedestrian and virtual information presented by the map interface. The organization of this article can be described as follows: First, we introduce the background and intentions of this work. Then, we summarize two aspects of related work in this field to find the challenges and opportunities for study in the present and future. Then, we will describe our method and introduce the experiment. In the following section, we present the quantitative and qualitative data as results from the user study and discuss the results, limitations, and future work. Finally, we summarize this work.