结合网格保刚性的多目的地地图布局优化方法

针对当前多目的地地图生成方法存在布局优化和时间复杂度过高的问题,提出了一种基于保刚性变形的多目的地地图自动生成方法.首先用户选择感兴趣的多个目的地,系统自动选择出与用户指定的目的地最相关的道路网信息,生成上下文区域和关注区域的Delaunay三角网格;然后通过对关注区域凸包点的操作来调整道路细节信息的显示比例,并于每一次凸包点调整后在上下文区域的三角网格作保刚性处理,使得该区域的道路拓扑结构尽量保持不变;同时保证该区域路网的细节清晰地显示.在若干OpenStreetMap地图上的实验结果表明,该方法能快速生成多目的地地图,生成的地图在保持输入地图总体拓扑结构的同时,也优化了地图上目的地区域道路的布局;使得用户可以在有限显示空间内能够浏览地图的全局信息和详细的局部地图信息.     

约束规则下的城市线路变形

目的 针对现实中城市道路网的复杂性容易对人产生视觉干扰的缺点,提出一种规整道路的基于约束规则的自动布局变形算法。方法 将实际地图数据经过预处理得到将要布局的初始线路图,继而使用力导向算法将图中邻边的角度最大化,然后进行爬山算法迭代完成线路的方向限定。结果 通过实验结果及对比分析可知,在易读性、美观性、方便性和实用性这4个方面,平均有69.6%的用户觉得具有实际意义。同时与传统地图相比,在用户规划路径实验中,平均每组节省26.2%的时间。结论 本文基于约束规则的线路变形,缓解了城市线路复杂与人脑有限记忆力之间的矛盾,适用于城市公交与地铁换乘、快速定位、线路规划等,具有实际应用价值。     

在GPS上实现一机多图

一机多图，顾名思义，就是在一个GPS上安装多个地图程序，多种地图能够提供更为丰富的信息，给用户带来更多的选择。我们购买的GPS产品一般在出厂后只安装有一个地图程序，那要如何在GPS上安装其它地图呢？其实要实现一机多图并不困难，只要你的GPS采用的是WindowsCE操作系统，并拥有足够的存储空间，那么都可以实现，而并不局限于某些特定的机型。好一下面我们就以新科P600为例，介绍它实现一机多图的方法。     

基于代价地图和最小树的移动机器人多区域覆盖方法

提出一种基于代价地图和最小树的多区域覆盖方法.首先,确定先验静态地图的栅格代价,并将静态地图转化成动态代价地图;然后,将代价地图分割成若干个区域块,对区域块再作Boustrophedon单元分割处理,得到子区域信息;最后,根据子区域间的邻接关系构建图,图中的各节点代表一个子区域.将基于最小树的子区域规划算法应用于该图得到子区域规划序列,应用基于代价地图和Dijkstra算法的区域转移算法得到区域间转移路径,子区域内使用往返覆盖策略,以此实现区域的全覆盖.将本文提出的多区域覆盖方法在线应用于多种结构场景中,实验结果表明,相对于传统的区域覆盖方法,本文方法可以有效提高移动机器人区域覆盖的效率.     

基于视觉显著性的非监督图像分割

交互式的图像分割算法需要用户输入先验信息,从而增加了算法的时间复杂度和用户的负担。提出了基于视觉显著性的非监督图像分割算法。该算法首先通过均值漂移算法先对图像进行预处理,将图像过分割成互不重叠的小区域。这些区域采用区域邻接图表示,当两个区域相邻时对应的节点之间存在边。其次,通过计算各个区域的颜色相异性和纹理一致性,得到相邻区域之间的合并概率。再次,根据区域的颜色和空间位置信息,定义每一个区域的显著性指标,选择最大显著性指标对应的区域作为目标种子区域,图像边缘区域中显著性指标最小的区域作为背景种子区域。最后,基于最大相似性合并策略,对与种子区域相邻的且合并概率最大的区域进行合并。实验表明,所提算法 不需要先验信息,且可以得到较好的分割效果;与非监督图像分割算法相比,所提算法可以避免过分割。     

校园GIS信息系统的平台构建

校园GIS信息查询系统是一个道路信息和建筑信息的WEBGIS系统,其主要的功能在于为用户提供各种信息的查询以及两点击点之间的最短最优路径查询。本文由GIS的基本概念入手,介绍了ARCINFO制作矢量地图及ARCIMS发布地图服务的操作流程;然后描述了网站与地图服务器之间的通信流程,最后对实现最短路径的程序流程进行了介绍。     

基于空间关系几何约束的无人机景象匹配导航*

针对GPS的信号强度较弱、易受各种电磁干扰,提出一种基于空间关系几何约束的景象匹配导航算法。首先基于空间关系几何约束的多匹配区选择方法,将实时图划分为多个分区;然后采用基于边缘响应的加权Hausdorff距离景象匹配算法对各个匹配区进行定位计算;最后,通过最优配准点坐标估计策略,解算出无人机实时图中心在基准图上的精确定位坐标。多区域景象匹配采用并行计算方法,利用历史导航信息来辅助修正景象匹配导航误差。实验结果表明,该算法可较好地满足无人机对景象匹配导航算法实时性、精确性的性能要求。     

用微机实现任意空间曲面的绘制

绘制空间曲面的软件已有很多。但是,这些软件都有不同程度的局限性。比如,有的要求曲面能用一个解析函数(如二次函数)表示出来;有的则要求曲面是一单值函数。或曲面是凸的,也有的要求定义在一个规则的区域上。所有这些约束使软件本身的应用受到限制。本文发展的绘制程序是便于微机使用的关于任意空间曲面的有遮挡的空间图的绘制。它可以从任意需要的方向去显示该曲面。曲面可以定义在任意域上。可以是多值     

数据驱动的大宗物流地图构建: 架构及进展

普通的城市道路地图未能覆盖(超)重卡货车的道路禁限行信息,缺少标注适用于大宗货运的热门停驻区域,无法满足货运司机的大批量长距离公路运输需求.为解决大宗货运交通事故频发、物流效率低下等问题,进一步提升货运司机的出行体验感,亟需结合运输货物类型、货车车型以及司机的线路选择偏好等因素,研究适用于公路大宗货运的定制化物流地图构建方法.随着移动互联网、车联网的普及,大宗货运产生的时空数据迅猛增长,与物流运营数据等一起构成物流大数据,为构建物流地图提供了数据基础.在梳理地图构建技术的基础上,针对现有电子地图构建方法在大宗货运领域的局限性,利用多源物流数据提出了一个数据驱动的物流地图构建框架,主要研究内容包括:(1)基于用户先验知识的多约束物流地图构建;(2)动态时空数据驱动的物流地图增量更新.物流地图将成为大宗货运发展新一代物流科技的AI基础设施.研究成果为物流地图构建的技术创新提供了丰富的实践内容,也为促进大宗物流降本增效提供了新的解决思路,具有重要的理论意义和应用价值.     

基于局部子地图方法的多机器人主动同时定位与地图创建

研究了多机器人在未知环境下以主动的方式协作完成同时定位与地图创建（SLAM）的问题．引入局部子地图方法,由每个机器人建立自身周围局部区域的子地图,使多个机器人之间的地图创建相互独立,从而对全局环境的SLAM问题进行分解．而每个机器人在建立局部子地图时将主动SLAM问题转化为多目标优化问题;机器人选取最优的控制输入,使定位与地图创建的准确性、信息增益以及多机器人之间的协调关系得到综合优化．最后,通过扩展的卡尔曼滤波器（EKF）对子地图进行融合得到全局地图．仿真结果验证了该方法的有效性．     

Location‐dependent generalization of road networks based on equivalent destinations

Suppose a user located at a certain vertex in a road network wants to plan a route using a wayfinding map. The user's exact destination may be irrelevant for planning most of the route, because many destinations will be equivalent in the sense that they allow the user to choose almost the same paths. We propose a method to find such groups of destinations automatically and to contract the resulting clusters in a detailed map to achieve a simplified visualization. We model the problem as a clustering problem in rooted, edge‐weighted trees. Two vertices are allowed to be in the same cluster if and only if they share at least a given fraction of their path to the root. We analyze some properties of these clusterings and give a linear‐time algorithm to compute the minimum‐cardinality clustering. This algorithm may have various other applications in network visualization and graph drawing, but in this paper we apply it specifically to focus‐and‐context map generalization. When contracting shortest‐path trees in a geographic network, the computed clustering additionally provides a constant‐factor bound on the detour that results from routing using the generalized network instead of the full network. This is a desirable property for wayfinding maps.     

Focus+context metro maps

We introduce a focus+context method to visualize a complicated metro map of a modern city on a small displaying area. The context of our work is with regard the popularity of mobile devices. The best route to the destination, which can be obtained from the arrival time of trains, is highlighted. The stations on the route enjoy larger spaces, whereas the other stations are rendered smaller and closer to fit the whole map into a screen. To simplify the navigation and route planning for visitors, we formulate various map characteristics such as octilinear transportation lines and regular station distances into energy terms. We then solve for the optimal layout in a least squares sense. In addition, we label the names of stations that are on the route of a passenger according to human preferences, occlusions, and consistencies of label positions using the graph cuts method. Our system achieves real-time performance by being able to report instant information because of the carefully designed energy terms. We apply our method to layout a number of metro maps and show the results and timing statistics to demonstrate the feasibility of our technique.     

Drawing road networks with focus regions

Mobile users of maps typically need detailed information about their surroundings plus some context information about remote places. In order to avoid that the map partly gets too dense, cartographers have designed mapping functions that enlarge a user-defined focus region--such functions are sometimes called fish-eye projections. The extra map space occupied by the enlarged focus region is compensated by distorting other parts of the map. We argue that, in a map showing a network of roads relevant to the user, distortion should preferably take place in those areas where the network is sparse. Therefore, we do not apply a predefined mapping function. Instead, we consider the road network as a graph whose edges are the road segments. We compute a new spatial mapping with a graph-based optimization approach, minimizing the square sum of distortions at edges. Our optimization method is based on a convex quadratic program (CQP); CQPs can be solved in polynomial time. Important requirements on the output map are expressed as linear inequalities. In particular, we show how to forbid edge crossings. We have implemented our method in a prototype tool. For instances of different sizes, our method generated output maps that were far less distorted than those generated with a predefined fish-eye projection. Future work is needed to automate the selection of roads relevant to the user. Furthermore, we aim at fast heuristics for application in real-time systems.     

一种用于Marching-Graph图形绘制的快速收敛布局算法

Marching-Graph是一种将图形隐喻技术和空间隐喻技术集成为一体的新的可视化方法.它为用户提供了高度可交互性地图,使用户可访问那些具有地理属性的信息的逻辑结构.它通过有效的人图交互和跨空间浏览为用户提供了一种可视分析和挖掘未知信息的机制,而不是将已知的信息呈现在地图上.然而,传统的力导向布局算法在达到力量均衡配置方面非常慢.为使一个图形布局收敛,它们通常需花费几十秒的时间.因此。当用户快速行进于地理区间时,那些力导向布局算法就不能满足快速绘制一系列图形的要求.提出了一种快速收敛布局方法,当用户在Marching-Graph中通过力导向布局逐步探究一系列图形时,它可以加速交互时间.通过结合辐射树绘图技术和力导向图形绘制方法来取得能量最小化的快速收敛.     

Perceived density of road maps

Maps should be designed so that users can comprehend and use the information. Display decisions, such as choosing the scale at which an area is shown, depend on properties of the displayed information such as the perceived density (PD) of the information. Taking a psychophysical approach we suggest that the PD of information in a road map is related to the scale and properties of the mapped area. 54 participants rated the PD of 60 maps from different regions. We provide a simple model that predicts the PD of electronic road map displays, using the logarithm of the number of roads, the logarithm of the number of junctions and the length of the shown roads. The PD model was cross-validated using a different set of 60 maps (n = 44). The model can be used for automatically adjusting display scales and for evaluating map designs, considering the required PD to perform a map-related task.     

Automatic metro map layout using multicriteria optimization

This paper describes an automatic mechanism for drawing metro maps. We apply multicriteria optimization to find effective placement of stations with a good line layout and to label the map unambiguously. A number of metrics are defined, which are used in a weighted sum to find a fitness value for a layout of the map. A hill climbing optimizer is used to reduce the fitness value, and find improved map layouts. To avoid local minima, we apply clustering techniques to the map-the hill climber moves both stations and clusters when finding improved layouts. We show the method applied to a number of metro maps, and describe an empirical study that provides some quantitative evidence that automatically-drawn metro maps can help users to find routes more efficiently than either published maps or undistorted maps. Moreover, we have found that, in these cases, study subjects indicate a preference for automatically-drawn maps over the alternatives.     

Extraction of Road Information from Guidance Map Images

A function of image recognition is indispensable to an intelligent robot which can coexist with a human being. Furthermore, the intelligent robot needs to understand the environment of their action range by getting information of characters and maps on advertisements and signboards in order to move autonomously. In this research, a method to search the route from the starting point to the destination on a guidance map, by extracting the road area on the map and revising degradation portions because of overlapping with characters or other figures is proposed. And the validity of this method is shown by the experiment using maps which were collected from advertisements or pamphlets.     

结合同场景立体图对的高质量深度图像重建

目的 越来越多的应用依赖于对场景深度图像准确且快速的观测和分析,如机器人导航以及在电影和游戏中对虚拟场景的设计建模等.飞行时间深度相机等直接的深度测量设备可以实时的获取场景的深度图像,但是由于硬件条件的限制,采集的深度图像分辨率比较低,无法满足实际应用的需要.通过立体匹配算法对左右立体图对之间进行匹配获得视差从而得到深度图像是计算机视觉的一种经典方法,但是由于左右图像之间遮挡以及无纹理区域的影响,立体匹配算法在这些区域无法匹配得到正确的视差,导致立体匹配算法在实际应用中存在一定的局限性.方法 结合飞行时间深度相机等直接的深度测量设备和立体匹配算法的优势,提出一种新的深度图像重建方法.首先结合直接的深度测量设备采集的深度图像来构造自适应局部匹配权值,对左右图像之间的局部窗立体匹配过程进行约束,得到基于立体匹配算法的深度图像;然后基于左右检测原理将采集到的深度图像和匹配得到的深度图像进行有效融合;接着提出一种局部权值滤波算法,来进一步提高深度图像的重建质量.结果 实验结果表明,无论在客观指标还是视觉效果上,本文提出的深度图像重建算法较其他立体匹配算法可以得到更好的结果.其中错误率比较实验表明,本文算法较传统的立体匹配算法在深度重建错误率上可以提升10％左右.峰值信噪比实验结果表明,本文算法在峰值信噪比上可以得到10 dB左右的提升.结论 提出的深度图像重建方法通过结合高分辨率左右立体图对和初始的低分辨率深度图像,可以有效地重建高质量高分辨率的深度图像.     

An efficient path computation model for hierarchically structured topographical road maps

In this paper, we have developed a HiTi (Hierarchical MulTi) graph model for structuring large topographical road maps to speed up the minimum cost route computation. The HiTi graph model provides a novel approach to abstracting and structuring a topographical road map in a hierarchical fashion. We propose a new shortest path algorithm named SPAH, which utilizes HiTi graph model of a topographical road map for its computation. We give the proof for the optimality of SPAH. Our performance analysis of SPAH on grid graphs showed that it significantly reduces the search space over existing methods. We also present an in-depth experimental analysis of HiTi graph method by comparing it with other similar works on grid graphs. Within the HiTi graph framework, we also propose a parallel shortest path algorithm named ISPAH. Experimental results show that inter query shortest path problem provides more opportunity for scalable parallelism than the intra query shortest path problem.