LevelFilesSet: An efficient Data Structure for Scalable Web Tiled Map Management Systems

<p><strong>Abstract.</strong> Modern map visualizations are built using data structures for storing tile images, while their main concerns are to maximize efficiency and usability. The core functionality of a web tiled map management system is to provide tile images to the end user; several tiles combined construe the web map. To achieve this, several data structures are showcased and analyzed. Specifically, this paper focuses on the SimpleFormat, which stores the tiles directly on the file system; the ImageBlock, which divides each tile folder (a folder where the tile images are stored) into subfolders that contain multiple tiles prior to storing the tiles on the file system; the LevelFilesSet, a data structure that creates dedicated Random-Access files, wherein the tile dataset is first stored and then parsed in files to retrieve the tile images; and, finally, the LevelFilesBlock, a hybrid data structure which combines ImageBlock and LevelFilesSet data structures. This work signifies the first time this hybrid approach has been implemented and applied in a web tiled map context. The JDBC API was used for integrating with the PostgreSQL database. This database was then used to conduct cross-testing amongst the data structures. Subsequently, several benchmark tests on local and cloud environments are developed anew and assessed under different system configurations to compare the data structures and provide a thorough analysis of their efficiency. These benchmarks showcased the efficiency of LevelFilesSet, which retrieved tiles up to 3.3 times faster than the other data structures. Peripheral features and principles of implementing scalable web tiled map management systems among different software architectures and system configurations are analyzed and discussed.</p>

δ-Generalized Labeled Multi-Bernoulli Simultaneous Localization and Mapping with an Optimal Kernel-Based Particle Filtering Approach

Under realistic environmental conditions, heuristic-based data association and map management routines often result in divergent map and trajectory estimates in robotic Simultaneous Localization And Mapping (SLAM). To address these issues, SLAM solutions have been proposed based on the Random Finite Set (RFS) framework, which models the map and measurements such that the usual requirements of external data association routines and map management heuristics can be circumvented and realistic sensor detection uncertainty can be taken into account. Rao–Blackwellized particle filter (RBPF)-based RFS SLAM solutions have been demonstrated using the Probability Hypothesis Density (PHD) filter and subsequently the Labeled Multi-Bernoulli (LMB) filter. In multi-target tracking, the LMB filter, which was introduced as an efficient approximation to the computationally expensive δ -Generalized LMB ( δ -GLMB) filter, converts its representation of an LMB distribution to δ -GLMB form during the measurement update step. This not only results in a loss of information yielding inferior results (compared to the δ -GLMB filter) but also fails to take computational advantages in parallelized implementations possible with RBPF-based SLAM algorithms. Similar to state-of-the-art random vector-valued RBPF solutions such as FastSLAM and MH-FastSLAM, the performances of all RBPF-based SLAM algorithms based on the RFS framework also diverge from ground truth over time due to random sampling approaches, which only rely on control noise variance. Further, the methods lose particle diversity and diverge over time as a result of particle degeneracy. To alleviate this problem and further improve the quality of map estimates, a SLAM solution using an optimal kernel-based particle filter combined with an efficient variant of the δ -GLMB filter ( δ -GLMB-SLAM) is presented. The performance of the proposed δ -GLMB-SLAM algorithm, referred to as δ -GLMB-SLAM2.0, was demonstrated using simulated datasets and a section of the publicly available KITTI dataset. The results suggest that even with a limited number of particles, δ -GLMB-SLAM2.0 outperforms state-of-the-art RBPF-based RFS SLAM algorithms.

The Design and Implementation of Traffic Management System Based on SuperMap

This paper developed a GIS-based traffic management and analysis platform designed to enable accident analysis process is fast, convenient and intuitive analysis and comprehensive; while black spots investigation aspect, there is provided a certain basis for the conclusion of the investigation for the black spots, governance provide supplementary information. Based on the above analysis, combined with the actual situation, the system uses the scan of thematic maps, vector maps as baseline. Based on this development system, mainly the following functions: map management functions, basic map operation, information inquiry, the accident entry, statistical function, black spot investigation model.

Robot mapping using local invariant feature detectors

Purpose – To build a persistent map with visual landmarks is one of the most important steps for implementing the visual simultaneous localization and mapping (SLAM). The corner detector is a common method utilized to detect visual landmarks for constructing a map of the environment. However, due to the scale-variant characteristic of corner detection, extensive computational cost is needed to recover the scale and orientation of corner features in SLAM tasks. The purpose of this paper is to build the map using a local invariant feature detector, namely speeded-up robust features (SURF), to detect scale- and orientation-invariant features as well as provide a robust representation of visual landmarks for SLAM. Design/methodology/approach – SURF are scale- and orientation-invariant features which have higher repeatability than that obtained by other detection methods. Furthermore, SURF algorithms have better processing speed than other scale-invariant detection method. The procedures of detection, description and matching of regular SURF algorithms are modified in this paper in order to provide a robust representation of visual landmarks in SLAM. The sparse representation is also used to describe the environmental map and to reduce the computational complexity in state estimation using extended Kalman filter (EKF). Furthermore, the effective procedures of data association and map management for SURF features in SLAM are also designed to improve the accuracy of robot state estimation. Findings – Experimental works were carried out on an actual system with binocular vision sensors to prove the feasibility and effectiveness of the proposed algorithms. EKF SLAM with the modified SURF algorithms was applied in the experiments including the evaluation of accurate state estimation as well as the implementation of large-area SLAM. The performance of the modified SURF algorithms was compared with those obtained by regular SURF algorithms. The results show that the SURF with less-dimensional descriptors is the most suitable representation of visual landmarks. Meanwhile, the integrated system is successfully validated to fulfill the capabilities of visual SLAM system. Originality/value – The contribution of this paper is the novel approach to overcome the problem of recovering the scale and orientation of visual landmarks in SLAM tasks. This research also extends the usability of local invariant feature detectors in SLAM tasks by utilizing its robust representation of visual landmarks. Furthermore, data association and map management designed for SURF-based mapping in this paper also give another perspective for improving the robustness of SLAM systems.