Graph Sampling for Map Comparison
Graph Sampling for Map Comparison
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DOI：
10.1145/3662733
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发表时间：
2023-12
影响因子：
1.9
通讯作者：
J. Aguilar;K. Buchin;M. Buchin;Erfan Hosseini Sereshgi;Rodrigo I. Silveira;C. Wenk
中科院分区：
文献类型：
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作者：
J. Aguilar;K. Buchin;M. Buchin;Erfan Hosseini Sereshgi;Rodrigo I. Silveira;C. Wenk
比较两个路线图是在各种情况下出现的基本操作。一种常用的地图比较方法，主要是在比较重建地图和地面真值地图的情况下，是基于图采样的。其基本思想是首先计算每个地图上的一组点样本，然后以一对一的方式匹配成对的样本——每个地图上一个样本。为了确定两个样本是否可以匹配，可以使用不同的标准，例如基于距离或方向。匹配对的总数可以衡量地图的相似程度。自Biagioni和Eriksson[11,12]的工作以来，图采样方法得到了广泛的应用。然而，每个步骤都有不同的实现方法，这可能导致结果的显著差异。这意味着，从不同的研究中得出的结论，似乎使用相同的比较方法，不一定是比较。在这项工作中，我们提出了一种用于地图比较的统一的图形采样方法。我们全面地介绍了这种方法，并讨论了其实施过程中所涉及的主要决定。特别地，我们指出了采样方法（GEO vs. TOPO）和匹配定义的重要性，讨论了使用的主要选项，并提出了两个关键步骤的替代方案。我们通过实验评估了在地图数据集和重建地图上考虑的不同采样和匹配选项。此外，我们还提供了一个代码库和一个交互式可视化工具，为未来在地图构建和地图比较领域的评估设定一个标准。
Comparing two road maps is a basic operation that arises in a variety of situations. A map comparison method that is commonly used, mainly in the context of comparing reconstructed maps to ground truth maps, is based on graph sampling. The essential idea is to first compute a set of point samples on each map, and then to match pairs of samples—one from each map—in a one-to-one fashion. For deciding whether two samples can be matched, different criteria, e.g., based on distance or orientation, can be used. The total number of matched pairs gives a measure of how similar the maps are. Since the work of Biagioni and Eriksson [11, 12], graph sampling methods have become widely used. However, there are different ways to implement each of the steps, which can lead to significant differences in the results. This means that conclusions drawn from different studies that seemingly use the same comparison method, cannot necessarily be compared. In this work we present a unified approach to graph sampling for map comparison. We present the method in full generality, discussing the main decisions involved in its implementation. In particular, we point out the importance of the sampling method (GEO vs. TOPO) and that of the matching definition, discussing the main options used, and proposing alternatives for both key steps. We experimentally evaluate the different sampling and matching options considered on map datasets and reconstructed maps. Furthermore, we provide a code base and an interactive visualization tool to set a standard for future evaluations in the field of map construction and map comparison.