Map++: A Crowd-sensing System for Automatic Map Semantics Identification

Digital maps have become a part of our daily life with a number of commercial and free map services. These services have still a huge potential for enhancement with rich semantic information to support a large class of mapping applications. In this paper, we present Map++, a system that leverages standard cell-phone sensors in a crowdsensing approach to automatically enrich digital maps with different road semantics like tunnels, bumps, bridges, footbridges, crosswalks, road capacity, among others. Our analysis shows that cell-phones sensors with humans in vehicles or walking get affected by the different road features, which can be mined to extend the features of both free and commercial mapping services. We present the design and implementation of Map++ and evaluate it in a large city. Our evaluation shows that we can detect the different semantics accurately with at most 3% false positive rate and 6% false negative rate for both vehicle and pedestrian-based features. Moreover, we show that Map++ has a small energy footprint on the cell-phones, highlighting its promise as a ubiquitous digital maps enriching service.Comment: Published in the Eleventh Annual IEEE International Conference on Sensing, Communication, and Networking (IEEE SECON 2014

Simultaneous localization and map-building using active vision

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localization and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment.Published versio

State-wide calculation of terrain-visualisations and automatic map generation for archaeological objects

Airborne laser scanning (ALS) became very popular in the last two decades for archaeological prospection. With the state-wide availability of ALS-data in Lower Saxony, Germany, about 48,000 km2;, we needed flexible and scalable approaches to process the data. First, we produced a state-wide digital terrain model (DTM) and some visualisations of it to use it in standard GIS software. Some of these visualisations are available as web maps and used for prospection also by volunteers. In a second approach, we automatically generate maps for all known archaeological objects. This is mainly used for the documentation of the 130,000 known objects in Lower Saxony, but also for object-by-object revision of the database. These Maps will also be presented in the web portal "Denkmalatlas Niedersachsen", an open data imitative of the state Lower Saxony.In the first part of this paper, we show how the state-wide DTM and its visualisations can be calculated using tiles. In the second part, we describe the automatic map generation process. All implementations were done with ArcGIS and its scripting interface ArcPy

Learning Aerial Image Segmentation from Online Maps

This study deals with semantic segmentation of high-resolution (aerial) images where a semantic class label is assigned to each pixel via supervised classification as a basis for automatic map generation. Recently, deep convolutional neural networks (CNNs) have shown impressive performance and have quickly become the de-facto standard for semantic segmentation, with the added benefit that task-specific feature design is no longer necessary. However, a major downside of deep learning methods is that they are extremely data-hungry, thus aggravating the perennial bottleneck of supervised classification, to obtain enough annotated training data. On the other hand, it has been observed that they are rather robust against noise in the training labels. This opens up the intriguing possibility to avoid annotating huge amounts of training data, and instead train the classifier from existing legacy data or crowd-sourced maps which can exhibit high levels of noise. The question addressed in this paper is: can training with large-scale, publicly available labels replace a substantial part of the manual labeling effort and still achieve sufficient performance? Such data will inevitably contain a significant portion of errors, but in return virtually unlimited quantities of it are available in larger parts of the world. We adapt a state-of-the-art CNN architecture for semantic segmentation of buildings and roads in aerial images, and compare its performance when using different training data sets, ranging from manually labeled, pixel-accurate ground truth of the same city to automatic training data derived from OpenStreetMap data from distant locations. We report our results that indicate that satisfying performance can be obtained with significantly less manual annotation effort, by exploiting noisy large-scale training data.Comment: Published in IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSIN

Constrained tGAP for generalisation between scales: the case of Dutch topographic data

This article presents the results of integrating large- and medium-scale data into a unified data structure. This structure can be used as a single non-redundant representation for the input data, which can be queried at any arbitrary scale between the source scales. The solution is based on the constrained topological Generalized Area Partition (tGAP), which stores the results of a generalization process applied to the large-scale dataset, and is controlled by the objects of the medium-scale dataset, which act as constraints on the large-scale objects. The result contains the accurate geometry of the large-scale objects enriched with the generalization knowledge of the medium-scale data, stored as references in the constraint tGAP structure. The advantage of this constrained approach over the original tGAP is the higher quality of the aggregated maps. The idea was implemented with real topographic datasets from The Netherlands for the large- (1:1000) and medium-scale (1:10,000) data. The approach is expected to be equally valid for any categorical map and for other scales as well