Studying urban expansion from a longer-term perspective is of great significance to obtain an in-depth understanding of the process of urbanization. Remote sensing data are mostly selected to investigate the long-term expansion of cities. In this study, we selected the world-class urban agglomeration of Beijing-Tianjin-Hebei (BTH) as the study area, and then discussed how to make full use of multi-source, multi-category, and multi-temporal spatial data (old maps and remote sensing images) to study long-term urbanization. Through this study, we addressed three questions: (1) How much has the urban area in BTH expanded in the past 100 years? (2) How did the urban area expand in the past century? (3) What factors or important historical events have changed the development of cities with different functions? By comprehensively using urban spatial data, such as old maps and remote sensing images, geo-referencing them, and extracting built-up area information, a long-term series of urban built-up areas in the BTH region can be obtained. Results show the following: (1) There was clear evidence of dramatic urban expansion in this area, and the total built-up area had increased by 55.585 times, from 126.181 km2 to 7013.832 km2. (2) Continuous outward expansion has always been the main trend, while the compactness of the built-up land within the city is constantly decreasing and the complexity of the city boundary is increasing. (3) Cities in BTH were mostly formed through the construction of city walls during the Ming and Qing dynasties, and the expansion process was mostly highly related to important political events, traffic development, and other factors. In summary, the BTH area, similarly to China and most regions of the world, has experienced rapid urbanization and the history of such ancient cities should be further preserved with the combined use of old maps.
A Disparity Refinement Algorithm for Satellite Remote Sensing Images Based on Mean-Shift Plane Segmentation