TINITALY/01: a new Triangular Irregular Network of Italy

A new Digital Elevation Model (DEM) of the natural landforms of Italy is presented. A methodology is discussed to build a DEM over wide areas where elevation data from non-homogeneous (in density and accuracy) input sources are available. The input elevation data include contour lines and spot heights derived from the Italian Regional topographic maps, satellite-based global positioning system points, ground based and radar altimetry data. Owing to the great heterogeneity of the input data density, the DEM format that better preserves the original accuracy is a Triangular Irregular Network (TIN). A Delaunay-based TIN structure is improved by using the DEST algorithm that enhances input data by evaluating inferred break-lines. Accordingly to this approach, biased distributions in slopes and elevations are absent. To prevent discontinuities at the boundary between regions characterized by data with different resolution a cubic Hermite blending weight S-shaped function is adopted. The TIN of Italy consists of 1.39×109 triangles. The average triangle area ranges from 12 to about 13000 m2 accordingly to different morphologies and different sources. About 50% of the model has a local average triangle area <500 m2. The vertical accuracy of the obtained DEM is evaluated by more than 200000 sparse control points. The overall Root Mean Square Error (RMSE) is less than 3.5 m. The obtained national-scale DEM constitutes an useful support to carry out accurate geomorphological and geological investigations over large areas. The problem of choosing the best step size in deriving a grid from a TIN is then discussed and a method to quantify the loss of vertical information is presented as a function of the grid step. Some examples of DEM application are outlined. Under request, an high resolution stereo image database of the whole Italian territory (derived from the presented DEM) is available to browse via internet

Geometric algorithms for geographic information systems

A geographic information system (GIS) is a software package for storing geographic data and performing complex operations on the data. Examples are the reporting of all land parcels that will be flooded when a certain river rises above some level, or analyzing the costs, benefits, and risks involved with the development of industrial activities at some place. A substantial part of all activities performed by a GIS involves computing with the geometry of the data, such as location, shape, proximity, and spatial distribution. The amount of data stored in a GIS is usually very large, and it calls for efficient methods to store, manipulate, analyze, and display such amounts of data. This makes the field of GIS an interesting source of problems to work on for computational geometers. In chapters 2-5 of this thesis we give new geometric algorithms to solve four selected GIS problems.These chapters are preceded by an introduction that provides the necessary background, overview, and definitions to appreciate the following chapters. The four problems that we study in chapters 2-5 are the following: Subdivision traversal: we give a new method to traverse planar subdivisions without using mark bits or a stack. Contour trees and seed sets: we give a new algorithm for generating a contour tree for d-dimensional meshes, and use it to determine a seed set of minimum size that can be used for isosurface generation. This is the first algorithm that guarantees a seed set of minimum size. Its running time is quadratic in the input size, which is not fast enough for many practical situations. Therefore, we also give a faster algorithm that gives small (although not minimal) seed sets. Settlement selection: we give a number of new models for the settlement selection problem. When settlements, such as cities, have to be displayed on a map, displaying all of them may clutter the map, depending on the map scale. Choices have to be made which settlements are selected, and which ones are omitted. Compared to existing selection methods, our methods have a number of favorable properties. Facility location: we give the first algorithm for computing the furthest-site Voronoi diagram on a polyhedral terrain, and show that its running time is near-optimal. We use the furthest-site Voronoi diagram to solve the facility location problem: the determination of the point on the terrain that minimizes the maximal distance to a given set of sites on the terrain

TINITALY/01: a new Triangular Irregular Network of Italy

A new Digital Elevation Model (DEM) of the natural landforms of Italy is presented. A methodology is discussed to build a DEM over wide areas where elevation data from non-homogeneous (in density and accuracy) input sources are available. The input elevation data include contour lines and spot heights derived from the Italian Regional topographic maps, satellite-based global positioning system points, ground based and radar altimetry data. Owing to the great heterogeneity of the input data density, the DEM format that better preserves the original accuracy is a Triangular Irregular Network (TIN). A Delaunay-based TIN structure is improved by using the DEST algorithm that enhances input data by evaluating inferred break-lines. Accordingly to this approach, biased distributions in slopes and elevations are absent. To prevent discontinuities at the boundary between regions characterized by data with different resolution a cubic Hermite blending weight S-shaped function is adopted. The TIN of Italy consists of 1.39×109 triangles. The average triangle area ranges from 12 to about 13000 m2 accordingly to different morphologies and different sources. About 50% of the model has a local average triangle area <500 m2. The vertical accuracy of the obtained DEM is evaluated by more than 200000 sparse control points. The overall Root Mean Square Error (RMSE) is less than 3.5 m. The obtained national-scale DEM constitutes an useful support to carry out accurate geomorphological and geological investigations over large areas. The problem of choosing the best step size in deriving a grid from a TIN is then discussed and a method to quantify the loss of vertical information is presented as a function of the grid step. Some examples of DEM application are outlined. Under request, an high resolution stereo image database of the whole Italian territory (derived from the presented DEM) is available to browse via internet

The dual half-edge-a topological primal/dual data structure and construction operators for modelling and manipulating cell complexes

© 2016 by the authors. There is an increasing need for building models that permit interior navigation, e.g., for escape route analysis. This paper presents a non-manifold Computer-Aided Design (CAD) data structure, the dual half-edge based on the Poincaré duality that expresses both the geometric representations of individual rooms and their topological relationships. Volumes and faces are expressed as vertices and edges respectively in the dual space, permitting a model just based on the storage of primal and dual vertices and edges. Attributes may be attached to all of these entities permitting, for example, shortest path queries between specified rooms, or to the exterior. Storage costs are shown to be comparable to other non-manifold models, and construction with local Euler-type operators is demonstrated with two large university buildings. This is intended to enhance current developments in 3D Geographic Information Systems for interior and exterior city modelling

Path Planning for Mobile Robot Navigation using Voronoi Diagram and Fast Marching

For navigation in complex environments, a robot need s to reach a compromise between the need for having efficient and optimized trajectories and t he need for reacting to unexpected events. This paper presents a new sensor-based Path Planner w hich results in a fast local or global motion planning able to incorporate the new obstacle information. In the first step the safest areas in the environment are extracted by means of a Vorono i Diagram. In the second step the Fast Marching Method is applied to the Voronoi extracted a reas in order to obtain the path. The method combines map-based and sensor-based planning o perations to provide a reliable motion plan, while it operates at the sensor frequency. The m ain characteristics are speed and reliability, since the map dimensions are reduced to an almost uni dimensional map and this map represents the safest areas in the environment for moving the robot. In addition, the Voronoi Diagram can be calculated in open areas, and with all kind of shaped obstacles, which allows to apply the proposed planning method in complex environments wher e other methods of planning based on Voronoi do not work.This work has been supported by the CAM Project S2009/DPI-1559/ROBOCITY2030 I