An analysis of alignment and integral based kernels for machine learning from vessel trajectories

In this paper we present an analysis of the application of the two most important types of similarity measures for moving object trajectories in machine learning from vessel movement data. These similarities are applied in the tasks of clustering, classification and outlier detection. The first similarity type are alignment measures, such as dynamic time warping and edit distance. The second type are based on the integral over time between two trajectories. Following earlier work we define these measures in the context of kernel methods, which provide state-of-the-art, robust algorithms for the tasks studied. Furthermore, we include the influence of applying piecewise linear segmentation as pre-processing to the vessel trajectories when computing alignment measures, since this has been shown to give a positive effect in computation time and performance.In our experiments the alignment based measures show the best performance. Regular versions of edit distance give the best performance in clustering and classification, whereas the softmax variant of dynamic time warping works best in outlier detection. Moreover, piecewise linear segmentation has a positive effect on alignments, due to the fact that salient points in a trajectory, especially important in clustering and outlier detection, are highlighted by the segmentation and have a large influence in the alignments. Based on our experiments, integral over time based similarity measures are not well-suited for learning from vessel trajectories.     

移动对象轨迹时空相似性度量方法

在分析移动对象行为时,移动对象轨迹因包含大量的信息而具有重要的作用。在实际应用中移动对象常受限于空间网络而无法利用现有欧氏空间中轨迹及其距离处理技术。分析了道路网络空间轨迹相似性性质,提出一种移动对象轨迹建模的时空表示方法,能有效地将轨迹从道路网络空间转化到欧氏空间;同时提出了一种基于兴趣点POI（Points Of Interesting）距离的轨迹间相似性测量方法,有效地对轨迹进行化简并减少轨迹中节点的数目,从而降低算法时间复杂度。该方法不仅可以用于搜索相似轨迹,还可方便地应用到轨迹聚类的相关工作中。     

Scalable and Adaptive Joins for Trajectory Data in Distributed Stream System

As a fundamental operation in LBS (location-based services), the trajectory similarity of moving objects has been extensively studied in recent years. However, due to the increasing volume of moving object trajectories and the demand of interactive query performance, the trajectory similarity queries are now required to be processed on massive datasets in a real-time manner. Existing work has proposed distributed or parallel solutions to enable large-scale trajectory similarity processing. However, those techniques cannot be directly adapted to the real-time scenario as it is likely to generate poor balancing performance when workload variance occurs on the incoming trajectory stream. In this paper, we propose a new workload partitioning framework, ART (Adaptive Framework for Real-Time Trajectory Similarity), which introduces practical algorithms to support dynamic workload assignment for RTTS (real-time trajectory similarity). Our proposal includes a processing model tailored for the RTTS scenario, a load balancing framework to maximize throughput, and an adaptive data partition manner designed to cut off unnecessary network cost. Based on this, our model can handle the large-scale trajectory similarity in an on-line scenario, which achieves scalability, effectiveness, and efficiency by a single shot. Empirical studies on synthetic data and real-world stream applications validate the usefulness of our proposal and prove the huge advantage of our approach over state-of-the-art solutions in the literature.

     

多模式移动对象不确定性轨迹预测模型

以移动设备、车辆、飞机、飓风等移动对象不确定性轨迹预测问题为背景,将大规模移动对象数据作为研究对象,以频繁轨迹模式挖掘、高斯混合回归技术为主要研究手段,提出多模式移动对象轨迹预测模型,关键技术包括:1）针对单一运动模式,提出一种基于频繁轨迹模式树FTP-tree的轨迹预测方法,利用基于密度的热点区域挖掘算法将轨迹点划分成不同的聚簇,构建轨迹频繁模式树,挖掘频繁轨迹模式预测移动对象连续运动位置.不同数据集上实验结果表明基于FTP-tree的轨迹预测算法在保证时间效率的前提下预测准确性明显优于已有预测算法.2）针对复杂多模式运动行为,利用高斯混合回归方法建模,计算不同运动模式的概率分布,将轨迹数据划分为不同分量,利用高斯过程回归预测移动对象最可能运动轨迹.实验证明,相比于基于隐马尔科夫模型和卡尔曼滤波的预测方法,所提方法具有较高的预测准确性和较低的时间代价.     

Searching for similar trajectories in spatial networks

In several applications, data objects move on pre-defined spatial networks such as road segments, railways, and invisible air routes. Many of these objects exhibit similarity with respect to their traversed paths, and therefore two objects can be correlated based on their motion similarity. Useful information can be retrieved from these correlations and this knowledge can be used to define similarity classes. In this paper, we study similarity search for moving object trajectories in spatial networks. The problem poses some important challenges, since it is quite different from the case where objects are allowed to move freely in any direction without motion restrictions. New similarity measures should be employed to express similarity between two trajectories that do not necessarily share any common sub-path. We define new similarity measures based on spatial and temporal characteristics of trajectories, such that the notion of similarity in space and time is well expressed, and moreover they satisfy the metric properties. In addition, we demonstrate that similarity range queries in trajectories are efficiently supported by utilizing metric-based access methods, such as M-trees.     

一种移动物体时空轨迹聚类的相似性度量方法

针对利用最小包围盒(MBB)压缩的移动物体时空轨迹,为了能对其进行有效地聚类,提出了一个基于盒内数据点密度的轨迹间相似性度量公式.首先,把两条轨迹的相似性度量转化为两条轨迹上有时间交叠的MBB之间的相似性度量,这在很大程度上减少了数据存储量.其次,分析两条轨迹上有时间交叠的MBB之间影响相似性的因素:时间持续、空间距离和盒内数据点的密度.剖析这3个因素对轨迹相似性的影响作用,提出了利用MBB压缩的移动物体时空轨迹相似性度量公式.实验证明采用本公式对移动物体时空轨迹进行聚类,可以提高聚类结果有效性指标Dunn的值.     

Elastic Translation Invariant Matching of Trajectories

We investigate techniques for analysis and retrieval of object trajectories. We assume that a trajectory is a sequence of two or three dimensional points. Trajectory datasets are very common in environmental applications, mobility experiments, video surveillance and are especially important for the discovery of certain biological patterns. Such kind of data usually contain a great amount of noise, that makes all previously used metrics fail. Therefore, here we formalize non-metric similarity functions based on the Longest Common Subsequence (LCSS), which are very robust to noise and furthermore provide an intuitive notion of similarity between trajectories by giving more weight to the similar portions of the sequences. Stretching of sequences in time is allowed, as well as global translating of the sequences in space. Efficient approximate algorithms that compute these similarity measures are also provided. We compare these new methods to the widely used Euclidean and Dynamic Time Warping distance functions (for real and synthetic data) and show the superiority of our approach, especially under the strong presence of noise. We prove a weaker version of the triangle inequality and employ it in an indexing structure to answer nearest neighbor queries. Finally, we present experimental results that validate the accuracy and efficiency of our approach.     

基于轨迹结构的移动对象热点区域发现

针对现有热点区域发现算法难以从轨迹数据集中准确识别活动热点的问题,提出了基于轨迹结构的热点区域发现框架（TS_HS）。TS_HS由候选区域发现（CHSD）算法和热点区域过滤（HSF）算法组成。首先,使用基于网格相对密度的CHSD识别空间上的轨迹密集区域作为候选热点区域;然后,利用HSF根据候选区域中轨迹的活动特征和时间变化特征,筛选出移动对象活动频繁的热点区域。在Geolife数据集上进行的实验表明,与基于全局密度的热门区域发现算法（GD_HR）以及移动轨迹时空热点区域发现算法（SDHSRD）相比,TS_HS能更有效地解决多密度热点区域的识别问题。实验结果表明,TS_HS能够根据轨迹的活动特征准确发现移动对象的活动热点区域。     

A review of moving object trajectory clustering algorithms

Clustering is an efficient way to group data into different classes on basis of the internal and previously unknown schemes inherent of the data. With the development of the location based positioning devices, more and more moving objects are traced and their trajectories are recorded. Therefore, moving object trajectory clustering undoubtedly becomes the focus of the study in moving object data mining. To provide an overview, we survey and summarize the development and trend of moving object clustering and analyze typical moving object clustering algorithms presented in recent years. In this paper, we firstly summarize the strategies and implement processes of classical moving object clustering algorithms. Secondly, the measures which can determine the similarity/dissimilarity between two trajectories are discussed. Thirdly, the validation criteria are analyzed for evaluating the performance and efficiency of clustering algorithms. Finally, some application scenarios are point out for the potential application in future. It is hope that this research will serve as the steppingstone for those interested in advancing moving object mining.     

Composition and Retrieval of Visual Information for Video Databases

This paper presents a new visual aggregation model for representing visual information about moving objects in video data. Based on available automatic scene segmentation and object tracking algorithms, the proposed model provides eight operations to calculate object motions at various levels of semantic granularity. It represents trajectory, color and dimensions of a single moving object and the directional and topological relations among multiple objects over a time interval. Each representation of a motion can be normalized to improve computational cost and storage utilization. To facilitate query processing, there are two optimal approximate matching algorithms designed to match time-series visual features of moving objects. Experimental results indicate that the proposed algorithms outperform the conventional subsequence matching methods substantially in the similarity between the two trajectories. Finally, the visual aggregation model is integrated into a relational database system and a prototype content-based video retrieval system has been implemented as well.     

Mining Semantic Trajectory Patterns from Geo-Tagged Data

User-generated social media data tagged with geographic information present messages of dynamic spatio-temporal trajectories. These increasing mobility data provide potential opportunities to enhance the understanding of human mobility behaviors. Several trajectory data mining approaches have been proposed to benefit from these rich datasets, but fail to incorporate aspatial semantics in mining. This study investigates mining frequent moving sequences of geographic entities with transit time from geo-tagged data. Different from previous analysis of geographic feature only trajectories, this work focuses on extracting patterns with rich context semantics. We extend raw geographic trajectories generated from geo-tagged data with rich context semantic annotations, use regions-of-interest as stops to represent interesting places, enrich them with multiple aspatial semantic annotations, and propose a semantic trajectory pattern mining algorithm that returns basic and multidimensional semantic trajectory patterns. Experimental results demonstrate that semantic trajectory patterns from our method present semantically meaningful patterns and display richer semantic knowledge.     

A framework for heading-guided recognition of human activity

A combined 2D, 3D approach is presented that allows for robust tracking of moving people and recognition of actions. It is assumed that the system observes multiple moving objects via a single, uncalibrated video camera. Low-level features are often insufficient for detection, segmentation, and tracking of non-rigid moving objects. Therefore, an improved mechanism is proposed that integrates low-level (image processing), mid-level (recursive 3D trajectory estimation), and high-level (action recognition) processes. A novel extended Kalman filter formulation is used in estimating the relative 3D motion trajectories up to a scale factor. The recursive estimation process provides a prediction and error measure that is exploited in higher-level stages of action recognition. Conversely, higher-level mechanisms provide feedback that allows the system to reliably segment and maintain the tracking of moving objects before, during, and after occlusion. Heading-guided recognition (HGR) is proposed as an efficient method for adaptive classification of activity. The HGR approach is demonstrated using “motion history images” that are then recognized via a mixture-of-Gaussians classifier. The system is tested in recognizing various dynamic human outdoor activities: running, walking, roller blading, and cycling. In addition, experiments with real and synthetic data sets are used to evaluate stability of the trajectory estimator with respect to noise.     

基于冗余分组的轨迹摘要算法

为了对视频监控设备采集到的轨迹数据进行聚类和异常检测,提出了一种新的轨迹摘要算法。使用了Jensen-Shannon Divergence（JSD）度量方法实现了轨迹数据的重采样,使得计算轨迹间相似度的准确性有所提高,并为后续滤波过程提供了必要的等采样点个数的轨迹数据;自适应地确定轨迹相似性的阈值,并采用非局部的思想,将轨迹数据进行冗余分组,同时识别出异常轨迹数据;从信号处理的角度对分组后的轨迹数据进行硬阈值滤波,经过合并得到摘要轨迹;此外,不受轨迹输入顺序的影响,并且提供了可视化的多尺度轨迹摘要结果。与具有噪声的基于密度的聚类（DBSCAN）算法的异常检测效果进行对比,所提算法在准确率（Precision）、召回率（Recall）以及F1指标上均有所提升。     

Popularity-aware spatial keyword search on activity trajectories

The proliferation of GPS-enabled smart mobile devices enables us to collect a large-scale trajectories of moving objects with GPS tags. While the raw trajectories that only consists of positional information have been studied extensively, many recent works have been focusing on enriching the raw trajectories with semantic knowledge. The resulting data, called activity trajectories, embed the information about behaviors of the moving objects and support a variety of applications for better quality of services. In this paper, we propose a Top-k Spatial Keyword (TkSK) query for activity trajectories, with the objective to find a set of trajectories that are not only close geographically but also meet the requirements of the query semantically. Such kind of query can deliver more informative results than existing spatial keyword queries for static objects, since activity trajectories are able to reflect the popularity of user activities and reveal preferable combinations of facilities. However, it is a challenging task to answer this query efficiently due to the inherent difficulties in indexing trajectories as well as the new complexity introduced by the textual dimension. In this work, we provide a comprehensive solution, including the novel similarity function, hybrid indexing structure, efficient search algorithm and further optimizations. Extensive empirical studies on real trajectory set have demonstrated the scalability of our proposed solution.     

Matching Trajectories between Video Sequences by Exploiting a Sparse Projective Invariant Representation

Identifying correspondences between trajectory segments observed from nonsynchronized cameras is important for reconstruction of the complete trajectory of moving targets in a large scene. Such a reconstruction can be obtained from motion data by comparing the trajectory segments and estimating both the spatial and temporal alignments. Exhaustive testing of all possible correspondences of trajectories over a temporal window is only viable in the cases with a limited number of moving targets and large view overlaps. Therefore, alternative solutions are required for situations with several trajectories that are only partially visible in each view. In this paper, we propose a new method that is based on view-invariant representation of trajectories, which is used to produce a sparse set of salient points for trajectory segments observed in each view. Only the neighborhoods at these salient points in the view--invariant representation are then used to estimate the spatial and temporal alignment of trajectory pairs in different views. It is demonstrated that, for planar scenes, the method is able to recover with good precision and efficiency both spatial and temporal alignments, even given relatively small overlap between views and arbitrary (unknown) temporal shifts of the cameras. The method also provides the same capabilities in the case of trajectories that are only locally planar, but exhibit some nonplanarity at a global level.     

TMA: Trajectory-based Multi-Anycast forwarding for efficient multicast data delivery in vehicular networks

This paper describes Trajectory-based Multi-Anycast forwarding (TMA), tailored and optimized for the efficient multicast data delivery in vehicular networks in terms of transmission cost. To our knowledge, this is the first attempt to investigate the efficient multicast data delivery in vehicle networks, based on the trajectories of vehicles in the multicast group. Due to the privacy concern, we assume only a central server knows the trajectory of each vehicle and the estimated current location of the vehicle. Therefore, after receiving a request of multicast data delivery from a source vehicle, the central server has to figure out how the data has to be delivered to the moving vehicles in the multicast group. For each target vehicle in the multicast group, multiple packet-and-vehicle rendezvous points are computed as a set of relay nodes to temporarily hold the data, considering the vehicle’s trajectory. This set of rendezvous points can be considered an Anycast set for the target vehicle. We have formulated the multicast data delivery as the data delivery to the anycast sets of the multicast group vehicles. Through theoretical analysis and extensive simulation, it is shown that our design provides an efficient multicast for moving vehicles under a variety of vehicular traffic conditions.     

抵制轨迹相似性攻击的轨迹（k，e） 匿名算法

针对轨迹匿名集中轨迹间的相似性过高导致的轨迹隐私泄露问题,提出抵制轨迹相似性攻击的轨迹(k,e)-匿名算法。该算法在预处理过程中,采用轨迹同步化处理方法减少信息损失;生成匿名集时,将轨迹斜率作为轨迹数据的敏感值,选择至少k条不同轨迹斜率的轨迹来满足轨迹k-匿名,并要求每个类中轨迹斜率差异值至少为e,以防止集合中轨迹的斜率相似性过高而导致隐私泄露。实验结果表明,该算法可以有效抵制轨迹相似性攻击,在减少信息损失的同时增强了轨迹数据可用性,更好地实现了轨迹隐私保护。     

基于轨迹形状多样性的隐私保护算法

针对匿名集内轨迹间的高度相似性而导致的轨迹隐私泄露问题,提出基于轨迹形状多样性的隐私保护算法。该算法通过轨迹同步化处理的方式改进轨迹数据的预处理过程,以减少信息损失;并借鉴l-多样性思想,在贪婪聚类时选择l条具有形状多样性的轨迹作为匿名集成员,以防止集合内成员轨迹的形状相似性过高而导致轨迹形状相似性攻击。理论分析及实验结果均表明,该算法能够在保证轨迹k-匿名的同时满足l-多样性,算法运行时间较小,且减少了轨迹信息损失,增强了轨迹数据的可用性,更好地实现了轨迹隐私保护,可有效应用到隐私保护轨迹数据发布中。     

基于轨迹多特性的隐私保护算法

现有基于聚类的轨迹隐私保护算法在衡量轨迹间的相似性时大多以空间特征为标准,忽略了轨迹蕴含的其他方面的特性对轨迹相似性的影响。针对这一情况可能导致的匿名后数据可用性较低的问题,提出了一种基于轨迹多特性的隐私保护算法。该算法考虑了轨迹数据的不确定性,综合方向、速度、时间和空间4个特性的差异作为轨迹相似性度量的依据,以提高轨迹聚类过程中同一聚类集合中轨迹之间的相似度;在此基础上,通过空间平移的方式实现同一聚类集合中轨迹的k-匿名。实验结果表明,与经典隐私保护算法相比,在满足一定隐私保护需求的前提下,采用所提算法实施隐私保护之后的轨迹数据整体具有较高的数据可用性。