Realistic road path reconstruction from GIS data

REALISTIC ROAD PATH RECONSTRUCTION FROM GIS DATA

Hoàng Hà NGUYỄN, Brett DESBENOIT, and Marc DANIEL

LSIS – CNRS – Aix*Marseille university

An output road path

Realistic road path reconstruction from GIS data Seoul 13/04/2023 3 of 18

Outline

Problem statement

Proposed method

Results

Conclusion


Realistic and accurate 3D models of road networks

Transportation simulation

Serious games

Virtual traveling

Realistic: must respect civil engineering rules

Accurate: manage inaccuracy of input data

Proposed method Required rules Method overview Algorithms

Results Conclusion

Problem statement Motivations Input data Related work


Road sample points Stored in 3D polylines

Accuracy: 1m 2.5m

Terrain point cloud 5mx5m regular grid

Accuracy: 2.5m

Aerial images

GIS database

How to exploit and combine multimodal data types?


Results Conclusion



By grammar rules or pattern-based method: [PHM01, SYBG02, CEW*08] fictitious roads

From GIS data [WSL12], do not use clothoid, do not aim at driving experience

Use procedural methods [BN08, GPMO10, GPMG11], do not take into account engineering rules lack of realism

3D road reconstruction

REFERENCES [PHM01] PARISH, H. Y. I., MULLER P.: Procedural modeling of cities. In Proceedings of the 28th annual conference on

Computer graphics and interactive techniques (New York, USA, 2001), SIGGRAPH ’01, pp. 301–308,

[SYBG02] SUN J., YU X., BACIU G., GREEN M.: Templatebased generation of road networks for virtual city modeling. Proceedings of the ACM symposium on Virtual reality software and technology (2002), 33–40

[CEW∗08] CHEN G., ESCH G., WONKA P., MÜLLER P., ZHANG E.: Interactive procedural street modeling. SIGGRAPH ’08,

[WSL12] WILKIE D., SEWALL J., LIN M. C.: Transforming gis data into functional road models for large-scale traffic simulation. IEEE Transactions on Visualization and Computer Graphics 18, 6 (2012), 890–901

[BN08] BRUNETON E., NEYRET F.: Real-time rendering and editing of vector-based terrains. In Eurographics (2008)

[GPMG10] GALIN E., PEYTAVIE A., MARÉCHAL N., GUÉRIN E.: Procedural generation of roads. Computer Graphics Forum (Proc. of Eurographics) 29, 2 (2010), 429–438

[GPGB11] GALIN E., PEYTAVIE A., GUÉRIN E., BENES B.: Authoring hierarchical road networks. Computer Graphics Forum (Proc. of Pacific Graphics) 30, 7 (2011), 2021–2030


Results Conclusion



Use input points as control points of clothoid splines [WM05] big deviation

[MS09, BLP10] build clothoid splines from polyline only 2D, insufficient road path rules

Piecewise curve reconstruction

REFERENCES [WM05] WALTON D. J., MEEK D. S.: Technical section: A controlled clothoid spline.

Comput. Graph. 29, 3 (June 2005), 353–363.

[MS09] MCCRAE J., SINGH K.: K.: Sketch-based path design. In Proc. Graphics Interface (2009), pp. 95–02

[BLP10] BARAN I., LEHTINEN J., POPOVIC J.: Sketching clothoid splines using shortest paths. Computer Graphics Forum, 29 (2010)


Results Conclusion


Need a method to create road path with civil engineering rules

PROPOSED METHODLSGA + Primitive merging


Piecewise curves Horizontal curve (projection on a plane) = [straight line | arc | clothoid]

Vertical curve (altitude along horizontal curve) = [straight line | parabola]

Grammar of primitive sequence

G1 continuous Connected

Tangents at junction are parallel

Restriction of primitive length (min, max)

Guidelines: few primitives, simple primitives in higher priority


Results Conclusion


Highway horizontalNormal horizontal Vertical

Straight line Parabola

*

Circle Arc

Straight line Clothoid

0:2 *Circle Arc

Straight line Clothoid

1:2


z Input 3D polyline

y

x x

Horizontal polyliney

z Vertical polyline

length

x

Horizontal piecewise curvey

zVertical piecewisecurve

length

Road pathz

y

x

Build horizontal and vertical curve

separately

Lift horizontal curve to the

altitude given by vertical

curve

Preprocess 3D polyline to get 2D polylines


Results Conclusion



LSGA (Least-error Sequence Growing Algorithm): given a polyline, find an appropriate sequence of primitives

Primitive merging: from disconnected primitives, build a G1 curve with acceptable total square deviations


Results Conclusion



P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4

P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8Try longer primitives

Reset with the least error sequence

Finish: Reach the last point

Max and Mean deviation ≤ thresholds

Grow the current

sequence by adding a primitive

Preprocess: estimate testing order


Results Conclusion


LSGA works by trying to grow a primitive sequence

LSGASplit at point having the least testing order, Try to fit the simple primitive first

1

2

6 35

4P0 P1 P2 P3 P4

P5

P6

P7

P8

Invoke “primitive merging” to obtain a G1

curve


Based on the Levenberg-Marquardt algorithm

Initial guess: Keep 1st primitive

Translate and rotate the others to obtain G1 curve

Minimize by optimizing primitives’ parameters

Primitive merging

P5

P͛/5+P5


Results Conclusion


RESULTS

04/13/2023 14


Horizontal curve Vertical curve

Input

Polyline length (m) 962

Number of points 46

Horizontal accuracy (m) 1.5

Vertical accuracy (m) 1

Output

Mean horizontal error (m) 0.45

Max horizontal error (m) 1.19

Mean vertical error (m) 0.32

Max vertical error (m) 0.94


Results Conclusion




Results Conclusion



Construction of complex and realistic road networks Roundabouts must be added

Forthcoming work: Road surface construction

Based on civil engineering rules

Mimic operations of civil engineering to modify the terrain according to the road paths: Excavation

Embankment


Results Conclusion


THANK YOU FOR YOUR ATTENTION


Testing order computation

From junction priority, set the testing order for each point

P0 P1 P2 P3 P4

P5

P6

P7

P8

16 35

4

2

S4

P0 P1 P2 P3 P4

P5

P6

P7

P8

P0 P1 P2 P3 P4

P5

P6

P7

P8

0.920.36 0.620.43

0.61

0.68JunctionPriority4 = min(|S4-S3|, |S5-S4|)


Common parameters: Starting point (x,y)

Tangent at starting point

Specific parameters for each type: Line: length

Circular arc: tangent at ending, radius

Clothoid: starting curvature, ending curvature, length

Parabola: tangent at ending, co-efficient A (of y = Ax2 + Bx +C)

Primitives’ parameters


Given input accuracy: δTo ensure quality of fitting, impose

the criteria:Max error ≤ δMean error ≤ δ/2

Error criteria


Results: mountain road

Horizontal curve Vertical curve

Input

Polyline length (m) 874.8

Number of points 50

Horizontal accuracy (m)

2.5

Vertical accuracy (m) 2.5

Output

Mean horizontal error (m) 1.05

Max horizontal error (m) 2.45

Mean vertical error (m) 0.57

Max vertical error (m) 0.94


Execution timeFunction name Times Total duration

(s) %

Road ID TRONROUT0000000040764920 (suburban) 272.27 100

Try to add primitive to current sequence 269.13 98.8 Compute the best fit clothoid 4 2.28 0.8 Primitive merging 53 267.15 98.1 Jacobian 636 236.8 86.9

Matrix operations 979 0.03 0

Compute Deviations, D_mean,D_max 243643 4.66 1.7

Others (reset, maintain memory…) 3.27 1.2Road ID TRONROUT0000000040981188 (mountain) 19692.13 100

Try to add primitive to current sequence 12420 19668.08 99.9 Compute the best fit clothoid 70 18.15 0.1 Primitive merging 12190 15849.87 80.4 Jacobian 62421 12134.77 61.6

Matrix operations 335515 22.53 0.1

Compute Deviations, D_mean,D_max

9423406 887.26 4.5

Others (reset, maintain memory…) 24.05 0.1

Science

Realistic road path reconstruction from GIS data