Enhancing data privacy with semantic trajectories: A raster‐based framework for GPS stop/move management

Tracking facilities on smartphones generate enormous amounts of GPS trajectories, which provide new opportunities to study movement patterns and improve transportation planning. Converting GPS trajectories into semantically meaningful trips is attracting increasing research effort with respect to the development of algorithms, frameworks, and software tools. There are, however, few works focused on designing new semantic enrichment functionalities taking privacy into account. This article presents a raster‐based framework which not only detects significant stop locations, segments GPS records into stop/move structures, and brings semantic insights to trips, but also provides possibilities to anonymize users’ movements and sensitive stay/move locations into raster cells/regions so that a multi‐level data sharing structure is achieved for a variety of data sharing purposes.     

Trajectory analysis at intersections for traffic rule identification

In this paper,we focus on trajectories at intersections regulated by various regulation types such as traffic lights,priority/yield signs,and right-of-way rules.We test some methods to detect and recognize movement patterns from GPS trajectories,in terms of their geometrical and spatio-temporal components.In particular,we first find out the main paths that vehicles follow at such locations.We then investigate the way that vehicles follow these geometric paths(how do they move along them).For these scopes,machine learning methods are used and the performance of some known methods for trajectory similarity measurement(DTW,Hausdorff,and Fréchet distance)and clustering(Affinity propagation and Agglomerative clustering)are compared based on clustering accuracy.Afterward,the movement behavior observed at six different intersections is analyzed by identifying certain movement patterns in the speed-and time-profiles of trajectories.We show that depending on the regulation type,different movement patterns are observed at intersections.This finding can be useful for intersection categorization according to traffic regulations.The practicality of automatically identifying traffic rules from GPS tracks is the enrichment of modern maps with additional navigation-related information(traffic signs,traffic lights,etc.).     

载体轨迹停留信息提取的核密度法及其可视化

轨迹停留蕴含重要语义信息,其有效提取是开展轨迹Stop/Move模型分析的前提。本文首先依据核密度思想,通过累计邻域点时空贡献来定义轨迹点的停留指数,在此基础上设计了停留指数图,以图形方式直观表达轨迹点的时空聚集程度变化。进一步针对源于停留指数的潜在停留段,提出了一种基于潜在停留段时空临近关系的逐级合并算法,以自动发现和提取停留。试验表明,该算法兼顾停留识别的完整性和准确性,可以有效识别复杂多样的轨迹停留,即使面对噪声严重的轨迹,停留提取的正确率依然较高。     

Towards semantic‐aware multiple‐aspect trajectory similarity measuring

The large amount of semantically rich mobility data becoming available in the era of big data has led to a need for new trajectory similarity measures. In the context of multiple‐aspect trajectories, where mobility data are enriched with several semantic dimensions, current state‐of‐the‐art approaches present some limitations concerning the relationships between attributes and their semantics. Existing works are either too strict, requiring a match on all attributes, or too flexible, considering all attributes as independent. In this article we propose MUITAS, a novel similarity measure for a new type of trajectory data with heterogeneous semantic dimensions, which takes into account the semantic relationship between attributes, thus filling the gap of the current trajectory similarity methods. We evaluate MUITAS over two real datasets of multiple‐aspect social media and GPS trajectories. With precision at recall and clustering techniques, we show that MUITAS is the most robust measure for multiple‐aspect trajectories.     

一种COVID-19病例个体时空轨迹交互式提取与质量评估方法

针对当前新型冠状病毒肺炎(coronavirus disease 2019,COVID-19)病例个体时空轨迹描述文本高度非结构化的特点,提出了一种基于自然语言处理(natural language processing,NLP)辅助的交互式轨迹提取方法,用于提高轨迹提取的效率和质量。设计了交互式轨迹提取和质量评估流程,研究并实现了地址分割与组合算法、轨迹质量评估算法等关键技术。以黑龙江本土COVID-19聚集病例为例,通过轨迹提取效率和质量对比实验,验证了该方法的有效性和实用性。实验结果表明,与无NLP辅助的提取方法相比,该方法的轨迹提取效率得到了显著提升;同时,依据轨迹定量可信度评价结果,人机交互式的提取方法还可有效解决算法轨迹自动提取中存在的轨迹点遗漏、位置错误等问题。     

Building Agent‐Based Walking Models by Machine‐Learning on Diverse Databases of Space‐Time Trajectory Samples

We introduce a novel scheme for automatically deriving synthetic walking (locomotion) and movement (steering and avoidance) behavior in simulation from simple trajectory samples. We use a combination of observed and recorded real‐world movement trajectory samples in conjunction with synthetic, agent‐generated, movement as inputs to a machine‐learning scheme. This scheme produces movement behavior for non‐sampled scenarios in simulation, for applications that can differ widely from the original collection settings. It does this by benchmarking a simulated pedestrian's relative behavioral geography, local physical environment, and neighboring agent‐pedestrians; using spatial analysis, spatial data access, classification, and clustering. The scheme then weights, trains, and tunes likely synthetic movement behavior, per‐agent, per‐location, per‐time‐step, and per‐scenario. To prove its usefulness, we demonstrate the task of generating synthetic, non‐sampled, agent‐based pedestrian movement in simulated urban environments, where the scheme proves to be a useful substitute for traditional transition‐driven methods for determining agent behavior. The potential broader applications of the scheme are numerous and include the design and delivery of location‐based services, evaluation of architectures for mobile communications technologies, what‐if experimentation in agent‐based models with hypotheses that are informed or translated from data, and the construction of algorithms for extracting and annotating space‐time paths in massive data‐sets.     

机器人室内运动轨迹修正控制算法

移动机器人在室内的应用提升了人们的工作效率和生活品质,但针对移动机器人室内运动轨迹漂移误差,产业界一直没有较好的解决办法。为了在室内环境下实现机器人运动轨迹的高精度控制,本文结合基于LiDAR搭建的SLAM （simultaneous localization and mapping）功能模块,提出了一种机器人室内测图运动轨迹PID反馈修正控制方法,利用机器人的运动姿态、位置及设计轨迹的偏差设计了闭环模式的轨迹修正控制算法,显著提高了机器人室内作业的轨迹精度。针对机器人室内运动的几种典型轨迹,通过大量的机器人室内测图运动轨迹测试,进一步优化算法中的机器人运动控制参数,有效地减小了移动机器人室内运动轨迹的偏移。相对于依靠里程计定位的机器人室内运动控制系统,修正算法充分利用了激光雷达的定位定姿信息,满足了室内测图需求,得到了具备高可靠性和高稳定性的机器人室内精确运动控制方案。     

Visualizing spatiotemporal trajectories of mobile social media users using space–time cube

The implementation of social network applications on mobile platforms has significantly elevated the activity of mobile social networking. Mobile social networking offers a channel for recording an individual’s spatiotemporal behaviors when location-detecting capabilities of devices are enabled. It also facilitates the study of time geography on an individual level, which has previously suffered from a scarcity of georeferenced movement data. In this paper, we report on the use of georeferenced tweets to display and analyze the spatiotemporal patterns of daily user trajectories. For georeferenced tweets having both location information in longitude and latitude values and recorded creation time, we apply a space–time cube approach for visualization. Compared to the traditional methodologies for time geography studies such as the travel diary-based approach, the analytics using social media data present challenges broadly associated with those of Big Data, including the characteristics of high velocity, large volume, and heterogeneity. For this study, a batch processing system has been developed for extracting spatiotemporal information from each tweet and then creating trajectories of each individual mobile Twitter user. Using social media data in time geographic research has the benefits of study area flexibility, continuous observation and non-involvement with contributors. For example, during every 30-minute cycle, we collected tweets created by about 50,000 Twitter users living in a geographic region covering New York City to Washington, DC. Each tweet can indicate the exact location of its creator when the tweet was posted. Thus, the linked tweets show a Twitter users’ movement trajectory in space and time. This study explores using data intensive computing for processing Twitter data to generate spatiotemporal information that can recreate the space–time trajectories of their creators.     

Measuring and modeling the speed of human navigation

Navigation, the goal-related movement through space and time to reach a destination, is a fundamental human activity. Geographers, physiologists, anthropologists, and psychologists have long been interested in the spatial and temporal aspects of navigation speed. Hikers, search and rescue teams, firefighters, the military, and others navigate on foot, and their success depends on understanding how the dynamics of foot-based navigation affect individual capabilities. This research modeled the speed of movement of humans engaged in navigation in wooded environments with varied terrain. Movement models were developed using spatiotemporal analysis of multiple subjects’ trajectories. Speed estimates were collected via satellite positioning from 200 subjects engaged in foot-based navigation. Trajectory data were merged with land-cover data to analyze human navigation over varying slopes and terrain. Generalizing these characteristics provided a model of navigational speed of movement from an origin to a destination along an unknown route. Tobler’s hiking function and Naismith’s rule were used in an analysis of the trajectory data. The model created from this study was shown to outperform those classic human movement speed estimators by predicting route completion time within 10% accuracy (M = 11.1min, 95% CI [9.8, 12.4] min). These models help explain the human dynamics of navigation.]     

车辆轨迹数据提取道路交叉口特征的决策树模型

众源车辆轨迹数据隐含最新的道路分布信息,研究利用轨迹数据提取道路特征有益于基础路网数据的快速建库与更新。道路网由交叉口和连接交叉口的道路线构成,其中交叉口特征识别是整个道路网生成的关键。由于缺乏精细的交叉口识别模型,轨迹数据生成的道路网容易出现路口遗漏、结构失真等现象。针对这一问题,本文提出一种利用轨迹数据提取道路交叉口的方法。首先,分析车辆在交叉口与非交叉口区域移动轨迹几何形态及隐含动力学特征的变化情形;然后,利用决策树方法构建轨迹片段分类模型,并结合移动开窗式的轨迹线剖分模型建立交叉口区域变道轨迹片段提取方法;最后,依据Hausdorff距离对交叉口区域轨迹片段进行聚类,并提取中心线获得完整的道路交叉口结构。采用真实的车辆轨迹线作为测试数据,验证了本文提出方法的有效性。     

基于出租车轨迹数据的人口活动分析

根据轨迹数据识别出人们感兴趣的区域,并且挖掘出人们的日常出行特性,作为数据挖掘的一个热点逐渐受到人们的重视。目前,绝大多数大城市的出租车上都安装有GPS,其记录的轨迹数据在时间和空间上都包含丰富的信息,分析出租车的轨迹数据能在一定程度上反映城市人口的出行情况,挖掘有价值的信息。文中挖掘出租车轨迹数据中的乘客上下车的位置点数据,经过数据预处理、地图匹配以及整合后,对位置点进行有权重的热点区域分析,叠加到地图上进行人口活动分析。     

出租车轨迹数据的频繁轨迹识别

为识别城市交通中的频繁路径,本文提出了一种出租车轨迹数据的频繁轨迹识别方法。该方法首先对轨迹数据进行轨迹压缩,以降低计算复杂度;然后基于最长公共子序列和动态时间规整算法进行轨迹相似性度量计算,利用计算得到的轨迹间相似度生成距离矩阵;最后将生成的距离矩阵结合HDBSCAN算法进行聚类得到频繁轨迹。选取厦门岛内两个区域进行试验分析,结果表明,该方法能够识别出轨迹数据集中的频繁轨迹,进而得到城市区域之间通行的频繁路径,对道路规划、路径优化与推荐、交通治理等应用提供帮助。     

Inferring trip purposes and uncovering travel patterns from taxi trajectory data

Global positioning system-enabled vehicles provide an efficient way to obtain large quantities of movement data for individuals. However, the raw data usually lack activity information, which is highly valuable for a range of applications and services. This study provides a novel and practical framework for inferring the trip purposes of taxi passengers such that the semantics of taxi trajectory data can be enriched. The probability of points of interest to be visited is modeled by Bayes’ rules, which take both spatial and temporal constraints into consideration. Combining this approach with Monte Carlo simulations, we conduct a study on Shanghai taxi trajectory data. Our results closely approximate the residents’ travel survey data in Shanghai. Furthermore, we reveal the spatiotemporal characteristics of nine daily activity types based on inference results, including their temporal regularities, spatial dynamics, and distributions of trip lengths and directions. In the era of big data, we encounter the dilemma of “trajectory data rich but activity information poor” when investigating human movements from various data sources. This study presents a promising step toward mining abundant activity information from individuals’ trajectories.     

车辆GPS轨迹兴趣区域提取算法研究

车辆行驶轨迹是驾驶员主观意愿和路网客观约束综合作用的结果,从海量轨迹中挖掘兴趣区域可为车辆提供更深层次、更有效的位置服务。文中深入分析车辆GPS轨迹特征,在基于时间的聚类算法中引入路网约束,实现车辆GPS轨迹的兴趣点提取和噪点剔除,基于DBSCAN算法生成兴趣区域,采用Google Geocoding反向地理编码发掘并合并语义重复区域,在语义层次上实现兴趣区域提取。实验表明,该算法可在语义层次有效提取兴趣区域。     

Trajectory Ontologies and Queries

Many real world applications today are built on analyses of movement and related features. Examples of such applications include transportation management, urban planning, tourism services, and animal migration monitoring, among others. Recent database modeling and management research prototypes have the capability to store and manipulate movement data in terms of point or region geometries that evolve over time (moving point or moving and deforming region). This captures the spatio‐temporal trace left by a moving object, but ignores its links with non‐geometric information that enable a semantic interpretation of the movement of moving objects. The concept of trajectory has been introduced to express a more semantic understanding of movement, taking it closer to the perception of applications. This article describes a framework for a semantics‐oriented structuring, modeling and querying of trajectory data. The framework relies on the definition of trajectory‐related ontologies, addressing domain‐independent and application‐specific geometric and semantic facets. Last we briefly discuss how the proposed approach has been applied for a traffic management application.     

顾及交叉路口和车辆模态的轨迹重构与分析

由于数据传输和存储成本的限制,大多数轨迹数据采样率低且不确定,而城市精细模型往往需要高频轨迹数据,例如,微观交通碳排模型需要时间间隔为1 s的轨迹数据。因此,对低频轨迹数据进行高频重构有非常重要的意义。提出了一种顾及交叉路口和车辆模态的轨迹重构方法,采用高频轨迹数据训练车辆运动模态的理论概率模型,结合交叉路口来确定低频轨迹点之间的模态序列,并通过遗传算法求解理论概率模型来完成各模态时间和距离的分配,进而完成轨迹点的高频重构。结果表明,所提方法重构轨迹的均方根误差（root mean square error,RMSE）值相较于传统的数学插值方法降低了62.9%,相较于未考虑交叉路口的模态方法,降低了12.2%。因此,该方法在低频轨迹数据重构中具有很好的应用价值。     

Integrated compression of vehicle spatio‐temporal trajectories under the road stroke network constraint

With fast growth of all kinds of trajectory datasets, how to effectively manage the trajectory data of moving objects has received a lot of attention. This study proposes a spatio‐temporal data integrated compression method of vehicle trajectories based on stroke paths coding compression under the road stroke network constraint. The road stroke network is first constructed according to the principle of continuous coherence in Gestalt psychology, and then two types of Huffman tree—a road strokes Huffman tree and a stroke paths Huffman tree—are built, based respectively on the importance function of road strokes and vehicle visiting frequency of stroke paths. After the vehicle trajectories are map matched to the spatial paths in the road network, the Huffman codes of the road strokes and stroke paths are used to compress the trajectory spatial paths. An opening window algorithm is used to simplify the trajectory temporal data depicted on a time–distance polyline by setting the maximum allowable speed difference as the threshold. Through analysis of the relative spatio‐temporal relationship between the preceding and latter feature tracking points, the spatio‐temporal data of the feature tracking points are all converted to binary codes together, accordingly achieving integrated compression of trajectory spatio‐temporal data. A series of comparative experiments between the proposed method and representative state‐of‐the‐art methods are carried out on a real massive taxi trajectory dataset from five aspects, and the experimental results indicate that our method has the highest compression ratio. Meanwhile, this method also has favorable performance in other aspects: compression and decompression time overhead, storage space overhead, and historical dataset training time overhead.     

MASTER: A multiple aspect view on trajectories

For many years trajectory data have been treated as sequences of space‐time points or stops and moves. However, with the explosion of the Internet of Things and the flood of big data generated on the Internet, such as weather channels and social network interactions, which can be used to enrich mobility data, trajectories become more and more complex, with multiple and heterogeneous data dimensions. The main challenge is how to integrate all this information with trajectories. In this article we introduce a new concept of trajectory, called multiple aspect trajectory, propose a robust conceptual and logical data model that supports a vast range of applications, and, differently from state‐of‐the‐art methods, we propose a storage solution for efficient multiple aspect trajectory queries. The main strength of our data model is the combination of simplicity and expressive power to represent heterogeneous aspects, ranging from simple labels to complex objects. We evaluate the proposed model in a tourism scenario and compare its query performance against the state‐of‐the‐art spatio‐temporal database SECONDO extension for symbolic trajectories.     

Extraction of spatio‐temporal data about historical events from text documents

Often, we are faced with questions regarding past events and the answers are hidden in the historical text archives. The growing developments in geographic information retrieval and temporal information retrieval techniques have given new ways to explore digital text archives for spatio‐temporal data. The question is how to retrieve the answers from the text documents. This work contributes to a better understanding of spatio‐temporal information extraction from text documents. Natural language processing techniques were used to develop an information extraction approach using the GATE language processing software. The developed framework uses gazetteer matching, spatio‐temporal relationship extraction and pattern‐based rules to recognize and annotate elements in historical text documents. The extracted spatio‐temporal data is used as input for GIS studies on the time–geography context of the German–Herero resistance war of 1904 in Namibia. Related issues when analyzing the historical data in current GIS are discussed. Particularly problematic are movement data in small scale with poor temporal density and trajectories that are short or connect very distant locations.