Trajectories, representing the movements of objects in the real world, carry significant stop/move semantics. The detection of trajectory stops poses a critical problem in the study of moving objects and becomes even more challenging due to the inevitable noise recorded along with true data. To extract stops with a variety of shapes and sizes from single trajectories with noise, this paper presents a sequence oriented clustering approach, in which noise points within the sequence of a stop can be identified and classified as a part of the stop. In our method, two key concepts are first introduced: (1) a core sequence that defines sequence density based not only on proximity in space but also continuity in time as well as the duration over time; and (2) an Eps-reachability sequence that aggregates core sequences that overlap or meet over time. Then, three criteria are presented to merge Eps-reachability sequences interrupted by noise. Further, an algorithm, called SOC (Sequence Oriented Clustering), is developed to automatically extract stops from a single trajectory. In addition, a reachability graph is designed that visually illustrates the spatio-temporal clustering structure and levels of a trajectory. Finally, the proposed algorithm is evaluated against two baseline methods through extensive experiments based on real world trajectories, some with serious noise, and the results show that our approach is fairly effective in recognizing trajectory stops.Keywords: trajectory stop; core sequence; reachability graph; sequence oriented clustering
BackgroundA trajectory represents the evolving locations of a moving object in geographical space over a given time interval. From the viewpoint of the computer world, a trajectory is a discrete record structure containing information about the evolving positions of a moving object in geographical space during a given time interval. Such a structure is composed of spatio-temporal points, each of which contains at least two components: an x-y position and a timestamp. The formal definition for a trajectory is given below.Definition 1 (Trajectory). A trajectory T = (tid, ) is a two-tuple structure, where tid is a unique trajectory identifier. We have: (1) p i = (x i , y i , t i ), i = 0, . . . , N, x i , y i , t i P R, as a spatio-temporal point; and (2) @0 ď i < j ď N, t i < t j .Here, we present a trajectory point as p = (x, y, t), instead of p = (x, y, z, t), because: (1) the z-part, i.e., elevation, is not always available in a trajectory dataset; (2) in our study and similar works, only latitude (the y-part), longitude (the x-part) and timestamp (the t-part) are required to compute space (using x and y) closeness and time proximity (using t); and (3) the changes of the z-part are very small, especially for trajectories recorded within cities, and therefore it is not necessary to apply the z-part on the computation of geographical distances.