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A Spatially-Aware Data-Driven Approach to Automatically Geocoding Non-Gazetteer Place Names 一种空间感知数据驱动的非地名自动地理编码方法
Q4 REMOTE SENSING Pub Date : 2023-10-16 DOI: 10.1145/3627987
Praval Sharma, Ashok Samal, Leen-Kiat Soh, Deepti Joshi
Human and natural processes such as navigation and natural calamities are intrinsically linked to the geographic space and described using place names. Extraction and subsequent geocoding of place names from text are critical for understanding the onset, progression, and end of these processes. Geocoding place names extracted from text requires using an external knowledge base such as a gazetteer. However, a standard gazetteer is typically incomplete. Additionally, widely used place name geocoding—also known as toponym resolution—approaches generally focus on geocoding ambiguous but known gazetteer place names. Hence there is a need for an approach to automatically geocode non -gazetteer place names. In this research, we demonstrate that patterns in place names are not spatially random. Places are often named based on people, geography, and history of the area and thus exhibit a degree of similarity. Similarly, places that co-occur in text are likely to be spatially proximate as they provide geographic reference to common events. We propose a novel data-driven spatially-aware algorithm, Bhugol , that leverages the spatial patterns and the spatial context of place names to automatically geocode the non-gazetteer place names. The efficacy of Bhugol is demonstrated using two diverse geographic areas – USA and India. The results show that Bhugol outperforms well-known state-of-the-art geocoders.
人类和自然过程,如航海和自然灾害,与地理空间有着内在的联系,并使用地名来描述。地名从文本的提取和后续的地理编码是理解的关键发病,进展,这些过程的结束。对从文本中提取的地名进行地理编码需要使用外部知识库,如地名词典。然而,标准的地名词典通常是不完整的。此外,广泛使用的地名地理编码(也称为地名解析)方法通常侧重于对歧义但已知的地名进行地理编码。因此,需要一种方法来自动地对非地名地名进行地理编码。在这项研究中,我们证明了地名的模式不是空间随机的。地名通常是根据当地的人、地理和历史来命名的,因此表现出一定程度的相似性。同样,在文本中同时出现的地方很可能在空间上接近,因为它们为共同事件提供了地理参考。我们提出了一种新的数据驱动的空间感知算法Bhugol,该算法利用地名的空间模式和空间上下文来自动对非地名地名进行地理编码。Bhugol的功效在美国和印度这两个不同的地理区域得到了证明。结果表明,Bhugol优于著名的最先进的地理编码器。
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引用次数: 0
Data Issues in High Definition Maps Furniture – A Survey 高清晰度地图家具中的数据问题-调查
Q4 REMOTE SENSING Pub Date : 2023-10-12 DOI: 10.1145/3627160
Andi Zang, Runsheng Xu, Goce Trajcevski, Fan Zhou
The rapid advancements in sensing techniques, networking and AI algorithms in the recent years have brought the autonomous driving vehicles closer to common use in vehicular transportation. One of the fundamental components to enable the autonomous driving functionalities are the High Definition (HD) maps – a type of maps that carry highly accurate and much richer information than conventional maps. The creation and use of HD maps rely on advances in multiple disciplines such as computer vision/object perception, geographic information system, sensing, simultaneous localization and mapping, machine learning, etc. To date, several survey papers have been published, describing the literature related to HD maps and their use in specialized contexts. In this survey, we aim to provide: (1) a comprehensive overview of the issues and solutions related to HD maps and their use, without attachment to a particular context; (2) a detailed coverage of the important domain knowledge of HD map furniture, from acquisition techniques and extraction approaches, through HD maps related datasets, to furniture quality assessment metrics, for the purpose of providing a comprehensive understanding of the entire workflow of HD map furniture generation, as well as its use.
近年来,传感技术、网络和人工智能算法的快速发展,使自动驾驶汽车更接近于在车辆运输中的普遍应用。实现自动驾驶功能的基本组件之一是高清(HD)地图,这是一种比传统地图携带高度精确和更丰富信息的地图。高清地图的创建和使用依赖于多个学科的进步,如计算机视觉/物体感知、地理信息系统、传感、同步定位和制图、机器学习等。迄今为止,已经发表了几篇调查论文,描述了与高清地图及其在专门情况下的使用有关的文献。在这项调查中,我们的目标是提供:(1)全面概述与高清地图及其使用相关的问题和解决方案,而不依附于特定的背景;(2)详细介绍高清地图家具的重要领域知识,从获取技术和提取方法,通过高清地图相关数据集,到家具质量评估指标,以便全面了解高清地图家具生成的整个工作流程,以及它的使用。
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引用次数: 0
Multimodal Deep Learning for Robust Road Attribute Detection 鲁棒道路属性检测的多模态深度学习
IF 1.9 Q4 REMOTE SENSING Pub Date : 2023-09-02 DOI: 10.1145/3618108
Yifang Yin, Wenmiao Hu, An Tran, Ying Zhang, Guanfeng Wang, H. Kruppa, Roger Zimmermann, See-Kiong Ng
Automatic inference of missing road attributes (e.g., road type and speed limit) for enriching digital maps has attracted significant research attention in recent years. A number of machine learning based approaches have been proposed to detect road attributes from GPS traces, dash-cam videos, or satellite images. However, existing solutions mostly focus on a single modality without modeling the correlations among multiple data sources. To bridge this gap, we present a multimodal road attribute detection method, which improves the robustness by performing pixel-level fusion of crowdsourced GPS traces and satellite images. A GPS trace is usually given by a sequence of location, bearing, and speed. To align it with satellite imagery in the spatial domain, we render GPS traces into a sequence of multi-channel images that simultaneously capture the global distribution of the GPS points, the local distribution of vehicles’ moving directions and speeds, and their temporal changes over time, at each pixel. Unlike previous GPS based road feature extraction methods, our proposed GPS rendering does not require map matching in the data preprocessing step. Moreover, our multimodal solution addresses single-modal challenges such as occlusions in satellite images and data sparsity in GPS traces by learning the pixel-wise correspondences among different data sources. On top of this, we observe that geographic objects and their attributes in the map are not isolated but correlated with each other. Thus, if a road is partially labeled, the existing information can be of great help on inferring the missing attributes. To fully use the existing information, we extend our model and discuss the possibilities for further performance improvement when partially labeled map data is available. Extensive experiments have been conducted on two real-world datasets in Singapore and Jakarta. Compared with previous work, our method is able to improve the detection accuracy on road attributes by a large margin.
近年来,对缺失道路属性(如道路类型和限速)进行自动推断以丰富数字地图,引起了广泛的研究关注。已经提出了许多基于机器学习的方法来从GPS轨迹、行车记录仪视频或卫星图像中检测道路属性。然而,现有的解决方案主要关注单一模态,而没有对多个数据源之间的相关性进行建模。为了弥补这一差距,我们提出了一种多模式道路属性检测方法,该方法通过对众包GPS轨迹和卫星图像进行像素级融合来提高鲁棒性。GPS轨迹通常由一系列位置、方位和速度给出。为了将其与空间域的卫星图像对齐,我们将GPS轨迹渲染成一系列多通道图像,同时捕获GPS点的全球分布、车辆移动方向和速度的局部分布以及它们在每个像素上随时间的变化。与以往基于GPS的道路特征提取方法不同,本文提出的GPS绘制方法在数据预处理阶段不需要地图匹配。此外,我们的多模态解决方案通过学习不同数据源之间的逐像素对应关系来解决单模态挑战,例如卫星图像中的遮挡和GPS轨迹中的数据稀疏性。最重要的是,我们观察到地图中的地理对象及其属性不是孤立的,而是相互关联的。因此,如果一条道路被部分标记,现有的信息对推断缺失的属性有很大帮助。为了充分利用现有信息,我们扩展了我们的模型,并讨论了当有部分标记的地图数据可用时进一步提高性能的可能性。在新加坡和雅加达的两个真实数据集上进行了广泛的实验。与以往的工作相比,我们的方法能够大大提高道路属性的检测精度。
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引用次数: 0
Stochastic Routing with Arrival Windows 带到达窗口的随机路由
IF 1.9 Q4 REMOTE SENSING Pub Date : 2023-08-25 DOI: 10.1145/3617500
Simon Aagaard Pedersen, B. Yang, Christian S. Jensen, J. Møller
Arriving at a destination within a specific time window is important in many transportation settings. For example, trucks may be penalized for early or late arrivals at compact terminals, and early and late arrivals at general practitioners, dentists, and so on, are also discouraged, in part due to COVID. We propose foundations for routing with arrival-window constraints. In a setting where the travel time of a road segment is modeled by a probability distribution, we define two problems where the aim is to find a route from a source to a destination that optimizes or yields a high probability of arriving within a time window while departing as late as possible. In this setting, a core challenge is to enable comparison between paths that may potentially be part of a result path with the goal of determining whether a path is uninteresting and can be disregarded given the existence of another path. We show that existing solutions cannot be applied in this problem setting and instead propose novel comparison methods. Additionally, we introduce the notion of Stochastic Arrival-Window Contraction Hierarchies that enable accelerated query processing in the article’s setting. Next, we present routing algorithms that exploit the above comparison methods in combination with so-called pivot paths and contraction hierarchies to enable efficient processing of the two types of queries. Finally, a detailed experimental study provides empirical insights that justify the need for the two types of routing and also offers insight into key characteristics of the problem solutions.
在许多交通环境中,在特定的时间窗口内到达目的地是很重要的。例如,卡车可能会因早到或晚到紧凑型航站楼而受到处罚,全科医生、牙医等也不鼓励早到和晚到,部分原因是新冠肺炎。我们提出了具有到达窗口约束的路由的基础。在一种情况下,路段的行驶时间由概率分布建模,我们定义了两个问题,目的是找到一条从源头到目的地的路线,该路线优化或产生在时间窗口内到达的高概率,同时尽可能晚地离开。在这种情况下,一个核心挑战是在可能是结果路径一部分的路径之间进行比较,目的是确定一条路径是否不感兴趣,并且在存在另一条路径的情况下是否可以忽略。我们表明,现有的解决方案不能应用于这种问题,而是提出了新的比较方法。此外,我们还引入了随机到达窗口收缩层次结构的概念,该层次结构能够在本文的设置中加速查询处理。接下来,我们将介绍路由算法,该算法结合所谓的枢轴路径和收缩层次结构,利用上述比较方法来实现对这两种类型查询的有效处理。最后,一项详细的实验研究提供了实证见解,证明了这两种路由的必要性,并深入了解了问题解决方案的关键特征。
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引用次数: 0
On Computing the Time-Varying Distance Between Moving Bodies 运动物体间时变距离的计算
IF 1.9 Q4 REMOTE SENSING Pub Date : 2023-08-19 DOI: 10.1145/3611010
Maxime Schoemans, M. Sakr, E. Zimányi
A moving body is a geometry that may translate and rotate over time. Computing the time-varying distance between moving bodies and surrounding static and moving objects is crucial to many application domains including safety at sea, logistics robots, and autonomous vehicles. Not only is it a relevant analytical operation in itself, but it also forms the basis of other operations, such as finding the nearest approach distance between two moving objects. Most moving objects databases represent moving objects using a point representation, and the computed temporal distance is thus inaccurate when working with large moving objects. This paper presents an efficient algorithm to compute the temporal distance between a moving body and other static or moving geometries. We extend the idea of the V-Clip and Lin-Canney closest features algorithms of computational geometry to track the temporal evolution of the closest pair of features between two objects during their movement. We also present a working implementation of this algorithm in an open-source moving objects database and show, using a real-world example on AIS data, that this distance operator for moving bodies is only about 1.5 times as slow as the one for moving points while providing significant improvements in correctness and accuracy of the results.
一个运动的物体是一个可以随时间平移和旋转的几何体。计算移动物体与周围静态和移动物体之间的时变距离对于许多应用领域至关重要,包括海上安全、物流机器人和自动驾驶汽车。它不仅本身是一种相关的分析操作,而且还构成了其他操作的基础,例如寻找两个移动物体之间的最近接近距离。大多数移动对象数据库使用点表示来表示移动对象,因此在处理大型移动对象时,计算的时间距离是不准确的。本文提出了一种计算运动物体与其他静态或运动几何体之间时间距离的有效算法。我们扩展了计算几何的V-Clip和Lin-Canney最接近特征算法的思想,以跟踪两个物体在运动过程中最接近的特征对的时间演变。我们还在一个开源的移动对象数据库中展示了该算法的工作实现,并使用AIS数据的实际示例显示,该距离算子用于移动物体的速度仅为移动点的距离算子的1.5倍左右,同时在结果的正确性和准确性方面提供了显着改进。
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引用次数: 0
Worbel: Aggregating Point Labels into Word Clouds 将点标签聚合到词云中
Q4 REMOTE SENSING Pub Date : 2023-08-16 DOI: 10.1145/3603376
Sujoy Bhore, Robert Ganian, Guangping Li, Martin Nöllenburg, Jules Wulms
Point feature labeling is a classical problem in cartography and GIS that has been extensively studied for geospatial point data. At the same time, word clouds are a popular visualization tool to show the most important words in text data which has also been extended to visualize geospatial data (Buchin et al. PacificVis 2016). In this article, we study a hybrid visualization, which combines aspects of word clouds and point labeling. In the considered setting, the input data consist of a set of points grouped into categories and our aim is to place multiple disjoint and axis-aligned rectangles, each representing a category, such that they cover points of (mostly) the same category under some natural quality constraints. In our visualization, we then place category names inside the computed rectangles to produce a labeling of the covered points which summarizes the predominant categories globally (in a word-cloud-like fashion) while locally avoiding excessive misrepresentation of points (i.e., retaining the precision of point labeling). We show that computing a minimum set of such rectangles is NP -hard. Hence, we turn our attention to developing a heuristic with (optional) exact components using SAT models to compute our visualizations. We evaluate our algorithms quantitatively, measuring running time and quality of the produced solutions, on several synthetic and real-world data sets. Our experiments show that the fully heuristic approach produces solutions of comparable quality to heuristics combined with exact SAT models, while running much faster.
点特征标注是地图学和GIS中的一个经典问题,对地理空间点数据进行了广泛的研究。同时,词云是一种流行的可视化工具,用于显示文本数据中最重要的词,也已扩展到可视化地理空间数据(Buchin等)。PacificVis 2016)。在本文中,我们研究了一种混合可视化,它结合了词云和点标记的各个方面。在考虑的设置中,输入数据由一组分组到类别中的点组成,我们的目标是放置多个不相交且轴对齐的矩形,每个矩形代表一个类别,这样它们在一些自然质量约束下覆盖(大多数)相同类别的点。在我们的可视化中,我们将类别名称放置在计算的矩形内,以生成覆盖点的标签,该标签在全局(以类似单词云的方式)总结了主要类别,同时在局部避免了对点的过度错误表示(即,保留了点标记的精度)。我们证明了计算这些矩形的最小集合是NP困难的。因此,我们将注意力转向开发一个启发式的(可选的)精确组件,使用SAT模型来计算我们的可视化。我们定量地评估我们的算法,测量运行时间和产生的解决方案的质量,在几个合成和现实世界的数据集上。我们的实验表明,完全启发式方法产生的解决方案与启发式与精确SAT模型相结合的解决方案质量相当,同时运行速度快得多。
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引用次数: 0
PAGE: Parallel Scalable Regionalization Framework PAGE:并行可扩展区域化框架
IF 1.9 Q4 REMOTE SENSING Pub Date : 2023-07-28 DOI: 10.1145/3611011
Hussah Alrashid, Yongyi Liu, A. Magdy
Regionalization techniques group spatial areas into a set of homogeneous regions to analyze and draw conclusions about spatial phenomena. A recent regionalization problem, called MP-regions, groups spatial areas to produce a maximum number of regions by enforcing a user-defined constraint at the regional level. The MP-regions problem is NP-hard. Existing approximate algorithms for MP-regions do not scale for large datasets due to their high computational cost and inherently centralized approaches to process data. This article introduces a parallel scalable regionalization framework (PAGE) to support MP-regions on large datasets. The proposed framework works in two stages. The first stage finds an initial solution through randomized search, and the second stage improves this solution through efficient heuristic search. To build an initial solution efficiently, we extend traditional spatial partitioning techniques to enable parallelized region building without violating the spatial constraints. Furthermore, we optimize the region building efficiency and quality by tuning the randomized area selection to trade off runtime with region homogeneity. The experimental evaluation shows the superiority of our framework to support an order of magnitude larger datasets efficiently compared to the state-of-the-art techniques while producing high-quality solutions.
区域化技术将空间区域划分为一组同质区域,以分析并得出有关空间现象的结论。最近的一个区域化问题称为MP区域,通过在区域级别强制执行用户定义的约束,将空间区域分组,以产生最大数量的区域。MP区域问题是NP难问题。MP区域的现有近似算法由于其高计算成本和固有的集中式数据处理方法而不能扩展到大型数据集。本文介绍了一个并行可扩展区域化框架(PAGE),以支持大型数据集上的MP区域。拟议的框架分为两个阶段。第一阶段通过随机搜索找到初始解,第二阶段通过有效的启发式搜索改进该解。为了有效地构建初始解决方案,我们扩展了传统的空间划分技术,在不违反空间约束的情况下实现了并行区域构建。此外,我们通过调整随机区域选择来优化区域构建效率和质量,以权衡运行时间和区域同质性。实验评估表明,与最先进的技术相比,我们的框架在高效支持一个数量级的更大数据集的同时,还能产生高质量的解决方案。
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引用次数: 0
STAR: A Cache-based Stream Warehouse System for Spatial Data STAR:一个基于缓存的空间数据流仓库系统
IF 1.9 Q4 REMOTE SENSING Pub Date : 2023-06-27 DOI: 10.1145/3605944
Zhida Chen, Gao Cong, Walid G. Aref
The proliferation of mobile phones and location-based services has given rise to an explosive growth in spatial data. In order to enable spatial data analytics, spatial data needs to be streamed into a data stream warehouse system that can provide real-time analytical results over the most recent and historical spatial data in the warehouse. Existing data stream warehouse systems are not tailored for spatial data. In this paper, we introduce the STAR system. STAR is a distributed in-memory data stream warehouse system that provides low-latency and up-to-date analytical results over a fast-arriving spatial data stream. STAR supports both snapshot and continuous queries that are composed of aggregate functions and ad hoc query constraints over spatial, textual, and temporal data attributes. STAR implements a cache-based mechanism to facilitate the processing of snapshot queries that collectively utilizes the techniques of query-based caching (i.e., view materialization) and object-based caching. Moreover, to speed-up processing continuous queries, STAR proposes a novel index structure that achieves high efficiency in both object checking and result updating. Extensive experiments over real data sets demonstrate the superior performance of STAR over existing systems.
移动电话和基于位置的服务的普及导致了空间数据的爆炸性增长。为了实现空间数据分析,需要将空间数据流式传输到数据流仓库系统中,该系统可以对仓库中最近和历史的空间数据提供实时分析结果。现有的数据流仓库系统不适合空间数据。本文介绍了STAR系统。STAR是一个分布式内存数据流仓库系统,通过快速到达的空间数据流提供低延迟和最新的分析结果。STAR支持快照和连续查询,这些查询由聚合函数和空间、文本和时间数据属性上的临时查询约束组成。STAR实现了一种基于缓存的机制来促进快照查询的处理,这种机制共同利用了基于查询的缓存(即视图物化)和基于对象的缓存技术。此外,为了加快连续查询的处理速度,STAR提出了一种新的索引结构,在对象检查和结果更新方面都实现了高效率。在真实数据集上进行的大量实验表明,STAR的性能优于现有系统。
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引用次数: 0
Deep Spatial Prediction via Heterogeneous Multi-source Self-supervision 基于异构多源自监督的深度空间预测
IF 1.9 Q4 REMOTE SENSING Pub Date : 2023-06-26 DOI: 10.1145/3605358
Minxing Zhang, Dazhou Yu, Yun-Qing Li, Liang Zhao
Spatial prediction is to predict the values of the targeted variable, such as PM2.5 values and temperature, at arbitrary locations based on the collected geospatial data. It greatly affects the key research topics in geoscience in terms of obtaining heterogeneous spatial information (e.g., soil conditions, precipitation rates, wheat yields) for geographic modeling and decision-making at local, regional, and global scales. In situ data, collected by ground-level in situ sensors, and remote sensing data, collected by satellite or aircraft, are two important data sources for this task. In situ data are relatively accurate while sparse and unevenly distributed. Remote sensing data cover large spatial areas, but are coarse with low spatiotemporal resolution and prone to interference. How to synergize the complementary strength of these two data types is still a grand challenge. Moreover, it is difficult to model the unknown spatial predictive mapping while handling the tradeoff between spatial autocorrelation and heterogeneity. Third, representing spatial relations without substantial information loss is also a critical issue. To address these challenges, we propose a novel Heterogeneous Self-supervised Spatial Prediction (HSSP) framework that synergizes multi-source data by minimizing the inconsistency between in situ and remote sensing observations. We propose a new deep geometric spatial interpolation model as the prediction backbone that automatically interpolates the values of the targeted variable at unknown locations based on existing observations by taking into account both distance and orientation information. Our proposed interpolator is proven to both be the general form of popular interpolation methods and preserve spatial information. The spatial prediction is enhanced by a novel error-compensation framework to capture the prediction inconsistency due to spatial heterogeneity. Extensive experiments have been conducted on real-world datasets and demonstrated our model’s superiority in performance over state-of-the-art models.
空间预测是根据收集的地理空间数据,预测目标变量在任意位置的值,如PM2.5值和温度。在获取异质空间信息(如土壤条件、降水率、小麦产量)以用于地方、区域和全球范围的地理建模和决策方面,它极大地影响了地球科学的关键研究课题。地面原位传感器收集的原位数据和卫星或飞机收集的遥感数据是这项任务的两个重要数据来源。现场数据相对准确,但稀疏且分布不均。遥感数据覆盖空间大,但时空分辨率低、粗糙,易受干扰。如何协同这两种数据类型的互补优势仍然是一个巨大的挑战。此外,在处理空间自相关和异质性之间的权衡时,很难对未知的空间预测映射进行建模。第三,在没有大量信息损失的情况下表示空间关系也是一个关键问题。为了应对这些挑战,我们提出了一种新的异构自监督空间预测(HSSP)框架,该框架通过最小化原位观测和遥感观测之间的不一致性来协同多源数据。我们提出了一种新的深度几何空间插值模型作为预测骨干,该模型通过考虑距离和方向信息,基于现有观测结果自动插值未知位置的目标变量的值。我们提出的插值器被证明是流行插值方法的一般形式,并保留了空间信息。通过一种新颖的误差补偿框架来增强空间预测,以捕捉由于空间异质性引起的预测不一致性。在真实世界的数据集上进行了大量实验,证明了我们的模型在性能上优于最先进的模型。
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引用次数: 0
Distance, Origin and Category Constrained Paths 距离、原点和类别约束的路径
IF 1.9 Q4 REMOTE SENSING Pub Date : 2023-05-08 DOI: 10.1145/3596601
Xu Teng, Goce Trajcevski, Andreas Züfle
Recommending a Point of Interest (PoI) or a sequence of PoIs to visit based on user’s preferences and geo-locations has been one of the most popular applications of Location-Based Services (LBS). Variants have also been considered which take other factors into consideration, such as broader (implicit or explicit) semantic constraints as well as the limitations on the length of the trip. In this work, we present an efficient algorithmic solution to a novel query – PaDOC (Paths with Distance, Origin, and Category constraints) – which combines the generation of a path that (a) can be traversed within a user-specified budget (e.g., limit on distance), (b) starts at one of the user-specified origin locations (e.g., a hotel), and (c) contains PoIs from a user-specified list of PoI categories. We show that the problem of deciding whether such a path exists is an NP-hard problem. Based on a novel indexing structure, we propose two efficient algorithms for approximate PaDOC query processing based on both conservative and progressive distance estimations. We conducted extensive experiments over real, publicly available datasets, demonstrating the benefits of the proposed methodologies over straightforward solutions.
基于用户的偏好和地理位置推荐要访问的兴趣点(PoI)或PoI序列一直是基于位置的服务(LBS)最受欢迎的应用之一。还考虑了将其他因素考虑在内的变体,例如更广泛的(隐式或显式)语义约束以及对行程长度的限制。在这项工作中,我们为一种新的查询——PaDOC(具有距离、原点和类别约束的路径)——提出了一种有效的算法解决方案,它结合了以下路径的生成:(a)可以在用户指定的预算内(例如,距离限制)穿过,(b)从用户指定的原点之一(例如,酒店)开始,以及(c)包含来自用户指定的PoI类别列表的PoI。我们证明了判定这种路径是否存在的问题是一个NP难问题。基于一种新的索引结构,我们提出了两种有效的基于保守和渐进距离估计的近似PaDOC查询处理算法。我们在真实的、公开的数据集上进行了广泛的实验,证明了所提出的方法相对于简单的解决方案的好处。
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引用次数: 1
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ACM Transactions on Spatial Algorithms and Systems
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