39,883 research outputs found
Computing Similarity between a Pair of Trajectories
With recent advances in sensing and tracking technology, trajectory data is
becoming increasingly pervasive and analysis of trajectory data is becoming
exceedingly important. A fundamental problem in analyzing trajectory data is
that of identifying common patterns between pairs or among groups of
trajectories. In this paper, we consider the problem of identifying similar
portions between a pair of trajectories, each observed as a sequence of points
sampled from it.
We present new measures of trajectory similarity --- both local and global
--- between a pair of trajectories to distinguish between similar and
dissimilar portions. Our model is robust under noise and outliers, it does not
make any assumptions on the sampling rates on either trajectory, and it works
even if they are partially observed. Additionally, the model also yields a
scalar similarity score which can be used to rank multiple pairs of
trajectories according to similarity, e.g. in clustering applications. We also
present efficient algorithms for computing the similarity under our measures;
the worst-case running time is quadratic in the number of sample points.
Finally, we present an extensive experimental study evaluating the
effectiveness of our approach on real datasets, comparing with it with earlier
approaches, and illustrating many issues that arise in trajectory data. Our
experiments show that our approach is highly accurate in distinguishing similar
and dissimilar portions as compared to earlier methods even with sparse
sampling
Distributed Estimation with Information-Seeking Control in Agent Network
We introduce a distributed, cooperative framework and method for Bayesian
estimation and control in decentralized agent networks. Our framework combines
joint estimation of time-varying global and local states with
information-seeking control optimizing the behavior of the agents. It is suited
to nonlinear and non-Gaussian problems and, in particular, to location-aware
networks. For cooperative estimation, a combination of belief propagation
message passing and consensus is used. For cooperative control, the negative
posterior joint entropy of all states is maximized via a gradient ascent. The
estimation layer provides the control layer with probabilistic information in
the form of sample representations of probability distributions. Simulation
results demonstrate intelligent behavior of the agents and excellent estimation
performance for a simultaneous self-localization and target tracking problem.
In a cooperative localization scenario with only one anchor, mobile agents can
localize themselves after a short time with an accuracy that is higher than the
accuracy of the performed distance measurements.Comment: 17 pages, 10 figure
Simultaneous maximum-likelihood calibration of odometry and sensor parameters
For a differential-drive mobile robot equipped with an on-board range sensor, there are six parameters to calibrate: three for the odometry (radii and distance between the wheels), and three for the pose of the sensor with respect to the robot frame. This paper describes a method for calibrating all six parameters at the same time, without the need for external sensors or devices. Moreover, it is not necessary to drive the robot along particular trajectories. The available data are the measures of the angular velocities of the wheels and the range sensor readings. The maximum-likelihood calibration solution is found in a closed form
Spatio-Temporal Techniques for User Identification by means of GPS Mobility Data
One of the greatest concerns related to the popularity of GPS-enabled devices
and applications is the increasing availability of the personal location
information generated by them and shared with application and service
providers. Moreover, people tend to have regular routines and be characterized
by a set of "significant places", thus making it possible to identify a user
from his/her mobility data.
In this paper we present a series of techniques for identifying individuals
from their GPS movements. More specifically, we study the uniqueness of GPS
information for three popular datasets, and we provide a detailed analysis of
the discriminatory power of speed, direction and distance of travel. Most
importantly, we present a simple yet effective technique for the identification
of users from location information that are not included in the original
dataset used for training, thus raising important privacy concerns for the
management of location datasets.Comment: 11 pages, 8 figure
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