This dataset consists of cartographic data in digital line graph (DLG) form for the northeastern states (Connecticut, Maine, Massachusetts, New Hampshire, New York, Rhode Island and Vermont). Information is presented on two planimetric base categories, political boundaries and administrative boundaries, each available in two formats: the topologically structured format and a simpler format optimized for graphic display. These DGL data can be used to plot base maps and for various kinds of spatial analysis. They may also be combined with other geographically referenced data to facilitate analysis, for example the Geographic Names Information System.

In 2007, the California Ocean Protection Council initiated the California Seafloor Mapping Program (CSMP), designed to create a comprehensive seafloor map of high-resolution bathymetry, marine benthic habitats, and geology within California’s State Waters. The program supports a large number of coastal-zone- and ocean-management issues, including the California Marine Life Protection Act (MLPA) (California Department of Fish and Wildlife, 2008), which requires information about the distribution of ecosystems as part of the design and proposal process for the establishment of Marine Protected Areas. A focus of CSMP is to map California’s State Waters with consistent methods at a consistent scale. The CSMP approach is to create highly detailed seafloor maps through collection, integration, interpretation, and visualization of swath sonar data (the undersea equivalent of satellite remote-sensing data in terrestrial mapping), acoustic backscatter, seafloor video, seafloor photography, high-resolution seismic-reflection profiles, and bottom-sediment sampling data. The map products display seafloor morphology and character, identify potential marine benthic habitats, and illustrate both the surficial seafloor geology and shallow (to about 100 m) subsurface geology. It is emphasized that the more interpretive habitat and geology data rely on the integration of multiple, new high-resolution datasets and that mapping at small scales would not be possible without such data. This approach and CSMP planning is based in part on recommendations of the Marine Mapping Planning Workshop (Kvitek and others, 2006), attended by coastal and marine managers and scientists from around the state. That workshop established geographic priorities for a coastal mapping project and identified the need for coverage of “lands” from the shore strand line (defined as Mean Higher High Water; MHHW) out to the 3-nautical-mile (5.6-km) limit of California’s State Waters. Unfortunately, surveying the zone from MHHW out to 10-m water depth is not consistently possible using ship-based surveying methods, owing to sea state (for example, waves, wind, or currents), kelp coverage, and shallow rock outcrops. Accordingly, some of the data presented in this series commonly do not cover the zone from the shore out to 10-m depth. This data is part of a series of online U.S. Geological Survey (USGS) publications, each of which includes several map sheets, some explanatory text, and a descriptive pamphlet. Each map sheet is published as a PDF file. Geographic information system (GIS) files that contain both ESRI ArcGIS raster grids (for example, bathymetry, seafloor character) and geotiffs (for example, shaded relief) are also included for each publication. For those who do not own the full suite of ESRI GIS and mapping software, the data can be read using ESRI ArcReader, a free viewer that is available at http://www.esri.com/software/arcgis/arcreader/index.html (last accessed September 20, 2013). The California Seafloor Mapping Program is a collaborative venture between numerous different federal and state agencies, academia, and the private sector. CSMP partners include the California Coastal Conservancy, the California Ocean Protection Council, the California Department of Fish and Wildlife, the California Geological Survey, California State University at Monterey Bay’s Seafloor Mapping Lab, Moss Landing Marine Laboratories Center for Habitat Studies, Fugro Pelagos, Pacific Gas and Electric Company, National Oceanic and Atmospheric Administration (NOAA, including National Ocean Service–Office of Coast Surveys, National Marine Sanctuaries, and National Marine Fisheries Service), U.S. Army Corps of Engineers, the Bureau of Ocean Energy Management, the National Park Service, and the U.S. Geological Survey. These web services for the Point Sur to Point Arguello map area includes data layers that are associated to GIS and map sheets available from the USGS CSMP web page at https://walrus.wr.usgs.gov/mapping/csmp/index.html. Each published CSMP map area includes a data catalog of geographic information system (GIS) files; map sheets that contain explanatory text; and an associated descriptive pamphlet. This web service represents the available data layers for this map area. Data was combined from different sonar surveys to generate a comprehensive high-resolution bathymetry and acoustic-backscatter coverage of the map area. These data reveal a range of physiographic including exposed bedrock outcrops, large fields of sand waves, as well as many human impacts on the seafloor. To validate geological and biological interpretations of the sonar data, the U.S. Geological Survey towed a camera sled over specific offshore locations, collecting both video and photographic imagery; these “ground-truth” surveying data are available from the CSMP Video and Photograph Portal at https://doi.org/10.5066/F7J1015K. The “seafloor character” data layer shows classifications of the seafloor on the basis of depth, slope, rugosity (ruggedness), and backscatter intensity and which is further informed by the ground-truth-survey imagery. The “potential habitats” polygons are delineated on the basis of substrate type, geomorphology, seafloor process, or other attributes that may provide a habitat for a specific species or assemblage of organisms. Representative seismic-reflection profile data from the map area is also include and provides information on the subsurface stratigraphy and structure of the map area. The distribution and thickness of young sediment (deposited over the past about 21,000 years, during the most recent sea-level rise) is interpreted on the basis of the seismic-reflection data. The geologic polygons merge onshore geologic mapping (compiled from existing maps by the California Geological Survey) and new offshore geologic mapping that is based on integration of high-resolution bathymetry and backscatter imagery seafloor-sediment and rock samplesdigital camera and video imagery, and high-resolution seismic-reflection profiles. The information provided by the map sheets, pamphlet, and data catalog has a broad range of applications. High-resolution bathymetry, acoustic backscatter, ground-truth-surveying imagery, and habitat mapping all contribute to habitat characterization and ecosystem-based management by providing essential data for delineation of marine protected areas and ecosystem restoration. Many of the maps provide high-resolution baselines that will be critical for monitoring environmental change associated with climate change, coastal development, or other forcings. High-resolution bathymetry is a critical component for modeling coastal flooding caused by storms and tsunamis, as well as inundation associated with longer term sea-level rise. Seismic-reflection and bathymetric data help characterize earthquake and tsunami sources, critical for natural-hazard assessments of coastal zones. Information on sediment distribution and thickness is essential to the understanding of local and regional sediment transport, as well as the development of regional sediment-management plans. In addition, siting of any new offshore infrastructure (for example, pipelines, cables, or renewable-energy facilities) will depend on high-resolution mapping. Finally, this mapping will both stimulate and enable new scientific research and also raise public awareness of, and education about, coastal environments and issues. Web services were created using an ArcGIS service definition file. The ArcGIS REST service and OGC WMS service include all Point Sur to Point Arguello map area data layers. Data layers are symbolized as shown on the associated map sheets.

For the REGIO WMS (Webmap service) service, it is possible to select the data layers displayed (e.g. roads, buildings or land use). The map image is displayed according to the parameters specified by the user (visible map area or bounding box, desired layers, etc.). WMS map pieces are generated from vector data such as.shp file, PostGIS database, etc. It is possible to choose between several different coordinate systems. It covers all Baltic states.

With Regio WMS (Webmap service) Basemap it is possible to show only preferred data layers (for example roads, buildings or land cover). The map is generated according to the parameters specified by the user (bounding box, desired data layers etc.). WMS map tiles are generated from vector data, such as.shp file or PostGIS database. It is possible to choose between different projections. Covers Estonia, Latvia and Lithuania.

Overview

3DHD CityScenes is the most comprehensive, large-scale high-definition (HD) map dataset to date, annotated in the three spatial dimensions of globally referenced, high-density LiDAR point clouds collected in urban domains. Our HD map covers 127 km of road sections of the inner city of Hamburg, Germany including 467 km of individual lanes. In total, our map comprises 266,762 individual items.

Our corresponding paper (published at ITSC 2022) is available here. Further, we have applied 3DHD CityScenes to map deviation detection here.

Moreover, we release code to facilitate the application of our dataset and the reproducibility of our research. Specifically, our 3DHD_DevKit comprises:

Python tools to read, generate, and visualize the dataset,

3DHDNet deep learning pipeline (training, inference, evaluation) for map deviation detection and 3D object detection.

The DevKit is available here:

https://github.com/volkswagen/3DHD_devkit.

The dataset and DevKit have been created by Christopher Plachetka as project lead during his PhD period at Volkswagen Group, Germany.

When using our dataset, you are welcome to cite:

@INPROCEEDINGS{9921866, author={Plachetka, Christopher and Sertolli, Benjamin and Fricke, Jenny and Klingner, Marvin and Fingscheidt, Tim}, booktitle={2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)}, title={3DHD CityScenes: High-Definition Maps in High-Density Point Clouds}, year={2022}, pages={627-634}}

Acknowledgements

We thank the following interns for their exceptional contributions to our work.

Benjamin Sertolli: Major contributions to our DevKit during his master thesis

Niels Maier: Measurement campaign for data collection and data preparation

The European large-scale project Hi-Drive (www.Hi-Drive.eu) supports the publication of 3DHD CityScenes and encourages the general publication of information and databases facilitating the development of automated driving technologies.

The Dataset

After downloading, the 3DHD_CityScenes folder provides five subdirectories, which are explained briefly in the following.

1. Dataset

This directory contains the training, validation, and test set definition (train.json, val.json, test.json) used in our publications. Respective files contain samples that define a geolocation and the orientation of the ego vehicle in global coordinates on the map.

During dataset generation (done by our DevKit), samples are used to take crops from the larger point cloud. Also, map elements in reach of a sample are collected. Both modalities can then be used, e.g., as input to a neural network such as our 3DHDNet.

To read any JSON-encoded data provided by 3DHD CityScenes in Python, you can use the following code snipped as an example.

import json

json_path = r"E:\3DHD_CityScenes\Dataset\train.json" with open(json_path) as jf: data = json.load(jf) print(data)

1. HD_Map

Map items are stored as lists of items in JSON format. In particular, we provide:

traffic signs,

traffic lights,

pole-like objects,

construction site locations,

construction site obstacles (point-like such as cones, and line-like such as fences),

line-shaped markings (solid, dashed, etc.),

polygon-shaped markings (arrows, stop lines, symbols, etc.),

lanes (ordinary and temporary),

relations between elements (only for construction sites, e.g., sign to lane association).

1. HD_Map_MetaData

Our high-density point cloud used as basis for annotating the HD map is split in 648 tiles. This directory contains the geolocation for each tile as polygon on the map. You can view the respective tile definition using QGIS. Alternatively, we also provide respective polygons as lists of UTM coordinates in JSON.

Files with the ending .dbf, .prj, .qpj, .shp, and .shx belong to the tile definition as “shape file” (commonly used in geodesy) that can be viewed using QGIS. The JSON file contains the same information provided in a different format used in our Python API.

1. HD_PointCloud_Tiles

The high-density point cloud tiles are provided in global UTM32N coordinates and are encoded in a proprietary binary format. The first 4 bytes (integer) encode the number of points contained in that file. Subsequently, all point cloud values are provided as arrays. First all x-values, then all y-values, and so on. Specifically, the arrays are encoded as follows.

x-coordinates: 4 byte integer

y-coordinates: 4 byte integer

z-coordinates: 4 byte integer

intensity of reflected beams: 2 byte unsigned integer

ground classification flag: 1 byte unsigned integer

After reading, respective values have to be unnormalized. As an example, you can use the following code snipped to read the point cloud data. For visualization, you can use the pptk package, for instance.

import numpy as np import pptk

file_path = r"E:\3DHD_CityScenes\HD_PointCloud_Tiles\HH_001.bin" pc_dict = {} key_list = ['x', 'y', 'z', 'intensity', 'is_ground'] type_list = ['

Digital line graph (DLG) data are digital representations of cartographic information. DLG's of map features are converted to digital form from maps and related sources. Intermediate-scale DLG data are derived from USGS 1:100,000-scale 30- by 60-minute quadrangle maps. If these maps are not available, Bureau of Land Management planimetric maps at a scale of 1: 100,000 are used. Intermediate-scale DLG's are sold in five categories: (1) Public Land Survey System; (2) boundaries (3) transportation; (4) hydrography; and (5) hypsography. All DLG data distributed by the USGS are DLG - Level 3 (DLG-3), which means the data contain a full range of attribute codes, have full topological structuring, and have passed certain quality-control checks.

This web map features a vector basemap of OpenStreetMap (OSM) data created and hosted by Esri. Esri produced this vector tile basemap in ArcGIS Pro from a live replica of OSM data, hosted by Esri, and rendered using a creative cartographic style emulating a blueprint technical drawing. The vector tiles are updated every few weeks with the latest OSM data. This vector basemap is freely available for any user or developer to build into their web map or web mapping apps.OpenStreetMap (OSM) is an open collaborative project to create a free editable map of the world. Volunteers gather location data using GPS, local knowledge, and other free sources of information and upload it. The resulting free map can be viewed and downloaded from the OpenStreetMap site: www.OpenStreetMap.org. Esri is a supporter of the OSM project and is excited to make this new vector basemap available available to the OSM, GIS, and Developer communities.

Indonesia Import: Value: Maps and Hydrographic or Similar Charts of All Kinds, Including Atlases, Wall Maps, Topographical Plans and Globes, Printed; Other than in Book Form data was reported at 0.014 USD mn in Jan 2025. This records an increase from the previous number of 0.014 USD mn for Dec 2024. Indonesia Import: Value: Maps and Hydrographic or Similar Charts of All Kinds, Including Atlases, Wall Maps, Topographical Plans and Globes, Printed; Other than in Book Form data is updated monthly, averaging 0.012 USD mn from Apr 2022 (Median) to Jan 2025, with 34 observations. The data reached an all-time high of 0.028 USD mn in Aug 2023 and a record low of 0.005 USD mn in Mar 2023. Indonesia Import: Value: Maps and Hydrographic or Similar Charts of All Kinds, Including Atlases, Wall Maps, Topographical Plans and Globes, Printed; Other than in Book Form data remains active status in CEIC and is reported by Statistics Indonesia. The data is categorized under Indonesia Premium Database’s Foreign Trade – Table ID.JAH147: Foreign Trade: by HS 8 Digits: Import: HS49: Printed Books, Newspapers, Pictures, and Other Products of Printing Industry, Manuscripts, Typescripts, and Plans.

In 2007, the California Ocean Protection Council initiated the California Seafloor Mapping Program (CSMP), designed to create a comprehensive seafloor map of high-resolution bathymetry, marine benthic habitats, and geology within California’s State Waters. The program supports a large number of coastal-zone- and ocean-management issues, including the California Marine Life Protection Act (MLPA) (California Department of Fish and Wildlife, 2008), which requires information about the distribution of ecosystems as part of the design and proposal process for the establishment of Marine Protected Areas. A focus of CSMP is to map California’s State Waters with consistent methods at a consistent scale. The CSMP approach is to create highly detailed seafloor maps through collection, integration, interpretation, and visualization of swath sonar data (the undersea equivalent of satellite remote-sensing data in terrestrial mapping), acoustic backscatter, seafloor video, seafloor photography, high-resolution seismic-reflection profiles, and bottom-sediment sampling data. The map products display seafloor morphology and character, identify potential marine benthic habitats, and illustrate both the surficial seafloor geology and shallow (to about 100 m) subsurface geology. It is emphasized that the more interpretive habitat and geology data rely on the integration of multiple, new high-resolution datasets and that mapping at small scales would not be possible without such data. This approach and CSMP planning is based in part on recommendations of the Marine Mapping Planning Workshop (Kvitek and others, 2006), attended by coastal and marine managers and scientists from around the state. That workshop established geographic priorities for a coastal mapping project and identified the need for coverage of “lands” from the shore strand line (defined as Mean Higher High Water; MHHW) out to the 3-nautical-mile (5.6-km) limit of California’s State Waters. Unfortunately, surveying the zone from MHHW out to 10-m water depth is not consistently possible using ship-based surveying methods, owing to sea state (for example, waves, wind, or currents), kelp coverage, and shallow rock outcrops. Accordingly, some of the data presented in this series commonly do not cover the zone from the shore out to 10-m depth. This data is part of a series of online U.S. Geological Survey (USGS) publications, each of which includes several map sheets, some explanatory text, and a descriptive pamphlet. Each map sheet is published as a PDF file. Geographic information system (GIS) files that contain both ESRI ArcGIS raster grids (for example, bathymetry, seafloor character) and geotiffs (for example, shaded relief) are also included for each publication. For those who do not own the full suite of ESRI GIS and mapping software, the data can be read using ESRI ArcReader, a free viewer that is available at http://www.esri.com/software/arcgis/arcreader/index.html (last accessed September 20, 2013). The California Seafloor Mapping Program is a collaborative venture between numerous different federal and state agencies, academia, and the private sector. CSMP partners include the California Coastal Conservancy, the California Ocean Protection Council, the California Department of Fish and Wildlife, the California Geological Survey, California State University at Monterey Bay’s Seafloor Mapping Lab, Moss Landing Marine Laboratories Center for Habitat Studies, Fugro Pelagos, Pacific Gas and Electric Company, National Oceanic and Atmospheric Administration (NOAA, including National Ocean Service–Office of Coast Surveys, National Marine Sanctuaries, and National Marine Fisheries Service), U.S. Army Corps of Engineers, the Bureau of Ocean Energy Management, the National Park Service, and the U.S. Geological Survey. These web services for the Offshore of Point Conception map area includes data layers that are associated to GIS and map sheets available from the USGS CSMP web page at https://walrus.wr.usgs.gov/mapping/csmp/index.html. Each published CSMP map area includes a data catalog of geographic information system (GIS) files; map sheets that contain explanatory text; and an associated descriptive pamphlet. This web service represents the available data layers for this map area. Data was combined from different sonar surveys to generate a comprehensive high-resolution bathymetry and acoustic-backscatter coverage of the map area. These data reveal a range of physiographic including exposed bedrock outcrops, large fields of sand waves, as well as many human impacts on the seafloor. To validate geological and biological interpretations of the sonar data, the U.S. Geological Survey towed a camera sled over specific offshore locations, collecting both video and photographic imagery; these “ground-truth” surveying data are available from the CSMP Video and Photograph Portal at https://doi.org/10.5066/F7J1015K. The “seafloor character” data layer shows classifications of the seafloor on the basis of depth, slope, rugosity (ruggedness), and backscatter intensity and which is further informed by the ground-truth-survey imagery. The “potential habitats” polygons are delineated on the basis of substrate type, geomorphology, seafloor process, or other attributes that may provide a habitat for a specific species or assemblage of organisms. Representative seismic-reflection profile data from the map area is also include and provides information on the subsurface stratigraphy and structure of the map area. The distribution and thickness of young sediment (deposited over the past about 21,000 years, during the most recent sea-level rise) is interpreted on the basis of the seismic-reflection data. The geologic polygons merge onshore geologic mapping (compiled from existing maps by the California Geological Survey) and new offshore geologic mapping that is based on integration of high-resolution bathymetry and backscatter imagery seafloor-sediment and rock samplesdigital camera and video imagery, and high-resolution seismic-reflection profiles. The information provided by the map sheets, pamphlet, and data catalog has a broad range of applications. High-resolution bathymetry, acoustic backscatter, ground-truth-surveying imagery, and habitat mapping all contribute to habitat characterization and ecosystem-based management by providing essential data for delineation of marine protected areas and ecosystem restoration. Many of the maps provide high-resolution baselines that will be critical for monitoring environmental change associated with climate change, coastal development, or other forcings. High-resolution bathymetry is a critical component for modeling coastal flooding caused by storms and tsunamis, as well as inundation associated with longer term sea-level rise. Seismic-reflection and bathymetric data help characterize earthquake and tsunami sources, critical for natural-hazard assessments of coastal zones. Information on sediment distribution and thickness is essential to the understanding of local and regional sediment transport, as well as the development of regional sediment-management plans. In addition, siting of any new offshore infrastructure (for example, pipelines, cables, or renewable-energy facilities) will depend on high-resolution mapping. Finally, this mapping will both stimulate and enable new scientific research and also raise public awareness of, and education about, coastal environments and issues. Web services were created using an ArcGIS service definition file. The ArcGIS REST service and OGC WMS service include all Offshore of Point Conception map area data layers. Data layers are symbolized as shown on the associated map sheets.

The National Hydrography Dataset Plus (NHDplus) maps the lakes, ponds, streams, rivers and other surface waters of the United States. Created by the US EPA Office of Water and the US Geological Survey, the NHDPlus provides mean annual and monthly flow estimates for rivers and streams. Additional attributes provide connections between features facilitating complicated analyses. For more information on the NHDPlus dataset see the NHDPlus v2 User Guide.Dataset SummaryPhenomenon Mapped: Surface waters and related features of the United States and associated territories not including Alaska.Geographic Extent: The United States not including Alaska, Puerto Rico, Guam, US Virgin Islands, Marshall Islands, Northern Marianas Islands, Palau, Federated States of Micronesia, and American SamoaProjection: Web Mercator Auxiliary Sphere Visible Scale: Visible at all scales but layer draws best at scales larger than 1:1,000,000Source: EPA and USGSUpdate Frequency: There is new new data since this 2019 version, so no updates planned in the futurePublication Date: March 13, 2019Prior to publication, the NHDPlus network and non-network flowline feature classes were combined into a single flowline layer. Similarly, the NHDPlus Area and Waterbody feature classes were merged under a single schema.Attribute fields were added to the flowline and waterbody layers to simplify symbology and enhance the layer's pop-ups. Fields added include Pop-up Title, Pop-up Subtitle, On or Off Network (flowlines only), Esri Symbology (waterbodies only), and Feature Code Description. All other attributes are from the original NHDPlus dataset. No data values -9999 and -9998 were converted to Null values for many of the flowline fields.What can you do with this layer?Feature layers work throughout the ArcGIS system. Generally your work flow with feature layers will begin in ArcGIS Online or ArcGIS Pro. Below are just a few of the things you can do with a feature service in Online and Pro.ArcGIS OnlineAdd this layer to a map in the map viewer. The layer is limited to scales of approximately 1:1,000,000 or larger but a vector tile layer created from the same data can be used at smaller scales to produce a webmap that displays across the full range of scales. The layer or a map containing it can be used in an application. Change the layer’s transparency and set its visibility rangeOpen the layer’s attribute table and make selections. Selections made in the map or table are reflected in the other. Center on selection allows you to zoom to features selected in the map or table and show selected records allows you to view the selected records in the table.Apply filters. For example you can set a filter to show larger streams and rivers using the mean annual flow attribute or the stream order attribute. Change the layer’s style and symbologyAdd labels and set their propertiesCustomize the pop-upUse as an input to the ArcGIS Online analysis tools. This layer works well as a reference layer with the trace downstream and watershed tools. The buffer tool can be used to draw protective boundaries around streams and the extract data tool can be used to create copies of portions of the data.ArcGIS ProAdd this layer to a 2d or 3d map. Use as an input to geoprocessing. For example, copy features allows you to select then export portions of the data to a new feature class. Change the symbology and the attribute field used to symbolize the dataOpen table and make interactive selections with the mapModify the pop-upsApply Definition Queries to create sub-sets of the layerThis layer is part of the ArcGIS Living Atlas of the World that provides an easy way to explore the landscape layers and many other beautiful and authoritative maps on hundreds of topics.Questions?Please leave a comment below if you have a question about this layer, and we will get back to you as soon as possible.

An effective Multi-Agent Path Finding (MAPF) algorithm must efficiently plan paths for multiple agents while adhering to constraints, ensuring safe navigation from start to goal. However, due to partial observability, agents often struggle to determine optimal strategies. Thus, developing a robust information fusion method is crucial for addressing these challenges. Information fusion expands the observation range of each agent, thereby enhancing the overall performance of the MAPF system. This paper explores a fusion approach in both temporal and spatial dimensions based on Graph Attention Networks (GAT). Since MAPF is a long-horizon, continuous task, leveraging historical observation dependencies is key for predicting future actions. Initially, historical observations are fused by incorporating a Gated Recurrent Unit (GRU) with a Convolutional Neural Network (CNN), extracting local observations to form an encoder. Next, GAT is used to enable inter-agent communication, utilizing the stability of the scaled dot-product aggregation to merge agents’ information. Finally, the aggregated data is decoded into the agent’s final action strategy, effectively solving the partial observability problem. Experimental results show that the proposed method improves accuracy and time efficiency by 24.5%, 47%, and 37.5%, 73% over GNN and GAT, respectively, under varying map sizes and agent densities. Notably, the performance enhancement is more pronounced in larger maps, highlighting the algorithm’s scalability.

Tutorial document describing how to go about mapping crash data in Tyler Data & Insights. This was done using the Crash Data dataset.

An effective Multi-Agent Path Finding (MAPF) algorithm must efficiently plan paths for multiple agents while adhering to constraints, ensuring safe navigation from start to goal. However, due to partial observability, agents often struggle to determine optimal strategies. Thus, developing a robust information fusion method is crucial for addressing these challenges. Information fusion expands the observation range of each agent, thereby enhancing the overall performance of the MAPF system. This paper explores a fusion approach in both temporal and spatial dimensions based on Graph Attention Networks (GAT). Since MAPF is a long-horizon, continuous task, leveraging historical observation dependencies is key for predicting future actions. Initially, historical observations are fused by incorporating a Gated Recurrent Unit (GRU) with a Convolutional Neural Network (CNN), extracting local observations to form an encoder. Next, GAT is used to enable inter-agent communication, utilizing the stability of the scaled dot-product aggregation to merge agents’ information. Finally, the aggregated data is decoded into the agent’s final action strategy, effectively solving the partial observability problem. Experimental results show that the proposed method improves accuracy and time efficiency by 24.5%, 47%, and 37.5%, 73% over GNN and GAT, respectively, under varying map sizes and agent densities. Notably, the performance enhancement is more pronounced in larger maps, highlighting the algorithm’s scalability.

Statistics of displacement magnitude for each data set.

Data and model checkpoints for paper "Weakly Supervised Concept Map Generation through Task-Guided Graph Translation" by Jiaying Lu, Xiangjue Dong, and Carl Yang. The paper has been accepted by IEEE Transactions on Knowledge and Data Engineering (TKDE).

GT-D2G-*.tar.gz are model checkpoints for GT-D2G variants. These models are trained by seed=27. nyt/dblp/yelp.*.win5.pickle.gz are initial graphs generated by NLP pipelines. glove.840B.restaurant.400d.vec.gz is the pre-trained embedding for the Yelp dataset.

For more instructions, please refer to our GitHub repo.

This is the data and codes that support the findings of the IJGIS paper "Aligning geographic entities from historical maps for building knowledge graphs".

NIDM Results

Collection description

This NIDM-Results pack was generated by using the version of nidmfsl built into fsl-python as part of FSL 5.0.11 on 06/07/2018. The FEAT report used to generate this dataset was obtained from the nidmresults-examples repository found (see full dataset URL). It was obtained using the following commands:

source $FSLDIR/fslpython/bin/activate fslpython
pip install nidmfsl --user --upgrade --upgrade-strategy only-if-needed
nidmfsl -g 'Control' 14

Subject species

homo sapiens

Map type

T

This is a collection of maps, layers, apps and dashboards that show population access to essential retail locations, such as grocery stores. Data sourcesPopulation data is from the 2010 U.S. Census blocks. Each census block has a count of stores within a 10 minute walk, and a count of stores within a ten minute drive. Census blocks known to be unpopulated are given a score of 0. The layer is available as a hosted feature layer. Grocery store locations are from SafeGraph, reflecting what was in the data as of October 2020. Access to the layer was obtained from the SafeGraph offering in ArcGIS Marketplace. For this project, ArcGIS StreetMap Premium was used for the street network in the origin-destination analysis work, because it already has the necessary attributes on each street segment to identify which streets are considered walkable, and supports a wide variety of driving parameters. The walkable access layer and drivable access layers are rasters, whose colors were chosen to allow the drivable access layer to serve as backdrop to the walkable access layer. Data PreparationArcGIS Network Analyst was used to set up a network street layer for analysis. ArcGIS StreetMap Premium was installed to a local hard drive and selected in the Origin-Destination workflow as the network data source. This allows the origins (Census block centroids) and destinations (SafeGraph grocery stores) to be connected to that network, to allow origin-destination analysis. The Census blocks layer contains the centroid of each Census block. The data allows a simple popup to be created. This layer's block figures can be summarized further, to tract, county and state levels. The SafeGraph grocery store locations were created by querying the SafeGraph source layer based on primary NAICS code. After connecting to the layer in ArcGIS Pro, a definition query was set to only show records with NAICS code 445110 as an initial screening. The layer was exported to a local disk drive for further definition query refinement, to eliminate any records that were obviously not grocery stores. The final layer used in the analysis had approximately 53,600 records. In this map, this layer is included as a vector tile layer. Methodology Every census block in the U.S. was assigned two access scores, whose numbers are simply how many grocery stores are within a 10 minute walk and a 10 minute drive of that census block. Every census block has a score of 0 (no stores), 1, 2 or more stores. The count of accessible stores was determined using Origin-Destination Analysis in ArcGIS Network Analyst, in ArcGIS Pro. A set of Tools in this ArcGIS Pro package allow a similar analysis to be conducted for any city or other area. The Tools step through the data prep and analysis steps. Download the Pro package, open it and substitute your own layers for Origins and Destinations. Parcel centroids are a suggested option for Origins, for example. Origin-Destination analysis was configured, using ArcGIS StreetMap Premium as the network data source. Census block centroids with population greater than zero were used as the Origins, and grocery store locations were used as the Destinations. A cutoff of 10 minutes was used with the Walk Time option. Only one restriction was applied to the street network: Walkable, which means Interstates and other non-walkable street segments were treated appropriately. You see the results in the map: wherever freeway overpasses and underpasses are present near a grocery store, the walkable area extends across/through that pass, but not along the freeway. A cutoff of 10 minutes was used with the Drive Time option. The default restrictions were applied to the street network, which means a typical vehicle's access to all types of roads was factored in. The results for each analysis were captured in the Lines layer, which shows which origins are within the cutoff of each destination over the street network, given the assumptions about that network (walking, or driving a vehicle). The Lines layer was then summarized by census block ID to capture the Maximum value of the Destination_Rank field. A census block within 10 minutes of 3 stores would have 3 records in the Lines layer, but only one value in the summarized table, with a MAX_Destination_Rank field value of 3. This is the number of stores accessible to that census block in the 10 minutes measured, for walking and driving. These data were joined to the block centroids layer and given unique names. At this point, all blocks with zero population or null values in the MAX_Destination_Rank fields were given a store count of 0, to help the next step. Walkable and Drivable areas are calculated into a raster layer, using Nearest Neighbor geoprocessing tool on the count of stores within a 10 minute walk, and a count of stores within a ten minute drive, respectively. This tool uses a 200 meter grid and interpolates the values between each census block. A census tracts layer containing all water polygons "erased" from the census tract boundaries was used as an environment setting, to help constrain interpolation into/across bodies of water. The same layer use used to "shoreline" the Nearest Neighbor results, to eliminate any interpolation into the ocean or Great Lakes. This helped but was not perfect. Notes and LimitationsThe map provides a baseline for discussing access to grocery stores in a city. It does not presume local population has the desire or means to walk or drive to obtain groceries. It does not take elevation gain or loss into account. It does not factor time of day nor weather, seasons, or other variables that affect a person's commute choices. Walking and driving are just two ways people get to a grocery store. Some people ride a bike, others take public transit, have groceries delivered, or rely on a friend with a vehicle. Thank you to Melinda Morang on the Network Analyst team for guidance and suggestions at key moments along the way; to Emily Meriam for reviewing the previous version of this map and creating new color palettes and marker symbols specific to this project. Additional ReadingThe methods by which access to food is measured and reported have improved in the past decade or so, as has the uses of such measurements. Some relevant papers and articles are provided below as a starting point. Measuring Food Insecurity Using the Food Abundance Index: Implications for Economic, Health and Social Well-BeingHow to Identify Food Deserts: Measuring Physical and Economic Access to Supermarkets in King County, WashingtonAccess to Affordable and Nutritious Food: Measuring and Understanding Food Deserts and Their ConsequencesDifferent Measures of Food Access Inform Different SolutionsThe time cost of access to food – Distance to the grocery store as measured in minutes

This tutorial will teach you how to take time-series data from many field sites and create a shareable online map, where clicking on a field location brings you to a page with interactive graph(s).

The tutorial can be completed with a sample dataset (provided via a Google Drive link within the document) or with your own time-series data from multiple field sites.

Part 1 covers how to make interactive graphs in Google Data Studio and Part 2 covers how to link data pages to an interactive map with ArcGIS Online. The tutorial will take 1-2 hours to complete.

An example interactive map and data portal can be found at: https://temple.maps.arcgis.com/apps/View/index.html?appid=a259e4ec88c94ddfbf3528dc8a5d77e8

Composite pictures from the two study groups of the MAP Trial.
(1st file) MAP Occlusal Treatment Group Mouth Pictures: Central images corresponds to jaw closure in maximal intercuspal position; lateral pictures correspond to lateral jaw motion towards each side. Upper panels correspond to the initial condition; lower pictures shows the result.Placebo group file
All pictures of 39 patients before and after occlusal grinding and, in selected cases, composite-resin addition.Therapy was performed in two main steps:1. Adjustment of jaw closure in centric position2. Adjustment of lateral jaw motion
(2nd file) MAP Placebo Group Mouth Pictures:
Central images corresponds to jaw closure in maximal intercuspal position; lateral pictures correspond to lateral jaw motion towards each side. As placebo therapy, occlusion was not altered.

The OnMapGaze dataset includes both experimental and analyzed gaze data collected during the observation of different cartographic backgrounds used in five online map services, including Google Maps, Wikimedia, Bing Maps, ESRI, and OSM at three different zoom levels (12z, 14z, & 16z).

A full description of the OnMapGaze dataset is cited in the paper below:

Liaskos, D., & Krassanakis, V. (2024). OnMapGaze and GraphGazeD: A Gaze Dataset and a Graph-Based Metric for Modeling Visual Perception Differences in Cartographic Backgrounds Used in Online Map Services. Multimodal Technologies and Interaction, 8(6). https://doi.org/10.3390/mti8060049