In this paper we address the problem of segmenting a trajectory based on spatiotemporal criteria. We require that each segment is homogeneous in the sense that a set of spatiotemporal criteria are fulfilled. We define different such criteria including location heading speed velocity curvature sinuosity curviness and shape. We present an algorithmic framework that allows us to segment any trajectory into a minimum number of segments under any of these criteria or any combination of these criteria. In this framework a segmentation can generally be computed in O(n log n) time where n is the number of edges of the trajectory to be segmented. We also discuss the robustness of our approach
