Abstract
We consider the problem of reconstructing vehicle trajectories from sparse sequences of GPS points, for which the sampling interval ranges between 10 seconds and 2 minutes. We introduce a new class of algorithms, collectively called path inference filter (PIF), that maps streaming GPS data in real-time, with a high throughput. We present an efficient Expectation Maximization algorithm to train the filter on new data without ground truth observations. The path inference filter is evaluated on a large San Francisco taxi dataset. It is deployed at an industrial scale inside the Mobile Millennium traffic information system, and is used to map fleets of vehicles in San Francisco, Sacramento, Stockholm and Porto.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Supporting code for the path inference filter, https://github.com/tjhunter/Path-Inference-Filter/
Bayen, A., Butler, J., Patire, A., et al.: Mobile Millennium final report. Technical report, University of California, Berkeley, CCIT Research Report UCB-ITS-CWP-2011-6 (2011)
Bierlaire, M., Flötteröd, G.: Probabilistic multi-modal map matching with rich smartphone data. In: STRC 2011 (2011)
The Cabspotting program, http://cabspotting.org/
Forney Jr., G.D.: The Viterbi algorithm. Proceedings of the IEEE 61(3), 268–278 (1973)
Greenfeld, J.S.: Matching GPS observations to locations on a digital map. In: 81th Annual Meeting of the Transportation Research Board (2002)
Gustafsson, F., Gunnarsson, F., Bergman, N., Forssell, U., Jansson, J., Karlsson, R., Nordlund, P.J.: Particle filters for positioning, navigation, and tracking. IEEE Transactions on Signal Processing 50(2), 425–437 (2002)
Hart, P.E., Nilsson, N.J., Raphael, B.: A formal basis for the heuristic determination of minimum cost paths. IEEE transactions on Systems Science and Cybernetics 4(2), 100–107 (1968)
Lafferty, J.D., McCallum, A., Pereira, F.C.N.: Conditional random fields: Probabilistic models for segmenting and labeling sequence data. In: Proceedings of the Eighteenth International Conference on Machine Learning (ICML 2001), pp. 282–289. Morgan Kaufmann Publishers Inc., San Francisco (2001)
Murphy, K.P.: Dynamic Bayesian Networks: Representation, Inference and Learning. PhD thesis, University of California at Berkeley (1994)
Ochieng, W.Y., Quddus, M., Noland, R.B.: Map-matching in complex urban road networks. Revista Brasileira de Cartografia 55(2) (2009)
Quddus, M.A., Ochieng, W.Y., Zhao, L., Noland, R.B.: A general map matching algorithm for transport telematics applications. GPS Solutions 7(3), 157–167 (2003)
Schrank, D.L., Lomax, T.J., and Texas Transportation Institute: 2009 Urban mobility report. The Texas A&M University (2009)
Seymore, K., McCallum, A., Rosenfeld, R.: Learning hidden Markov model structure for information extraction. In: AAAI-1999 Workshop on Machine Learning for Information Extraction, pp. 37–42 (1999)
Thiagarajan, A., Ravindranath, L.S., LaCurts, K., Toledo, S., Eriksson, J., Madden, S., Balakrishnan, H.: Vtrack: Accurate, energy-aware traffic delay estimation using mobile phones. In: 7th ACM Conference on Embedded Networked Sensor Systems (SenSys), Berkeley, CA (November 2009)
Thrun, S.: Probabilistic robotics. Communications of the ACM 45(3), 52–57 (2002)
Wainwright, M.J., Jordan, M.I.: Graphical models, exponential families, and variational inference. Foundations and Trends® in Machine Learning 1(1-2), 1–305 (2008)
White, C.E., Bernstein, D., Kornhauser, A.L.: Some map matching algorithms for personal navigation assistants. Transportation Research Part C: Emerging Technologies 8(1-6), 91–108 (2000)
Yuan, J., Zheng, Y., Zhang, C., Xie, X., Sun, G.Z.: An interactive-voting based map matching algorithm. In: 2010 Eleventh International Conference on Mobile Data Management (MDM), pp. 43–52. IEEE (2010)
Zheng, Y., Quddus, M.A.: Weight-based shortest-path aided map-matching algorithm for low-frequency positioning data. In: Transportation Research Board 90th Annual Meeting (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hunter, T., Abbeel, P., Bayen, A.M. (2013). The Path Inference Filter: Model-Based Low-Latency Map Matching of Probe Vehicle Data. In: Frazzoli, E., Lozano-Perez, T., Roy, N., Rus, D. (eds) Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36279-8_36
Download citation
DOI: https://doi.org/10.1007/978-3-642-36279-8_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-36278-1
Online ISBN: 978-3-642-36279-8
eBook Packages: EngineeringEngineering (R0)