TRAJECTORY CLUSTERING FOR PEOPLE S MOVEMENT PATTERN BASED ON CROWD SOURING DATA

1 TRAJECTORY CLUSTERING FOR PEOPLE S MOVEMENT PATTERN BASED ON CROWD SOURING DATA Jiangping Chen, Ting Hu, Pengling Zhang, Wenzhong Shi School of Remo...

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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-2, 2014 ISPRS Technical Commission II Symposium, 6 – 8 October 2014, Toronto, Canada

TRAJECTORY CLUSTERING FOR PEOPLE’S MOVEMENT PATTERN BASED ON CROWD SOURING DATA Jiangping Chen, Ting Hu, Pengling Zhang, Wenzhong Shi School of Remote Sensing and Information Engineering ,Wuhan University, [email protected] 129 Luoyu Road ,Wuhan ,China ,430079 Technical Commission II KEY WORDS:

GPS trajectories data; Spatial-temporal clustering algorithm; Movement pattern

ABSTRACT: With the increasing availability of GPS-enabled devices, a huge amount of GPS trajectories recording people’s location traces have been accumulated and shared freely on the Web. In this area, one of the most important research topics is to exploit trajectory-movement pattern about where and when people clustered based on the raw GPS data. In order to solve this problem, clustering is a good way to perform data mining tasks on trajectory data. This paper provides a clustering algorithm which aims at mining people’s movement pattern about the clustered location and their temporal evolution characteristics. Firstly, the characteristic points of GPS trajectories were chosen. Based on the characteristic points, a trajectory has been partitioned into a group of line segments. These line segments can represent the movement pattern of trajectories much better than that of track points. Secondly, an improved density-based line clustering method was used for the individual partitioned line segments to find out individual clusters with similar track segments. In this step, the absolute time spot of people’s trajectories was taking into account as a characteristic for the temporal evolution of people’s trajectories. Finally, the representative clustered hot spots of multiple users’ line segments achieved by above steps were output. Experiments were conducted with GPS trajectories data downloaded from the web to verify the effectiveness of the algorithm in this paper. According to the results, the spatial distribution and temporal evolution characteristics of people’s stay hot spots were effectively discovered from people’s GPS trajectories data. valuable knowledge like individual life pattern[4], transportation

1. INTRODUCTION The increasing availability of GPS-enabled devices is changing the way people interact with the Web, and has facilitated people to record their location trace with GPS trajectories. More and more users start recording their outdoor activities with GPS trajectories for many reasons, such as travel experience sharing, life logging, sports activity analysis and multimedia content management, etc[1]. Therefore, a huge amount of GPS trajectories representing people’s location information have been accumulated on the Web. For example, according to the [2]

OSM official website statistics , there have been 1.5million users registered on the website, with 380 billion track points shared and more than 10000 cities over the world included, by the end of 2013. Another case is the project GeoLife proposed by Zheng Yu et al.[3] from Microsoft Research Asia. The team conducted experiments using GPS data collected from 181 volunteers during a period of 2 years in the real world to mine

mode[5] and user similarity[6], etc. Moreover, these GPS data are all shared freely on the Web. It brings us challenges as well as opportunities to discover the valuable knowledge that we need from the massive amounts of GPS trajectories. One of the most important research topics in this area is to exploit trajectory-movement pattern about where and when people clustered or stayed based on the raw GPS data. In order to discover people’s trajectory movement pattern, clustering is a good way to perform data mining tasks on trajectory data. Jae-Gil Lee et al.[7] have proposed a trajectory clustering algorithm TRACLUS based on a partition-and-group framework which partition the trajectories into sub track segment using the minimum description length (MDL) principle. They made experiments with hurricane trajectories and animal movement data to discover the sub track segment with the same movement pattern in space. Since the movement pattern of human GPS trajectories is quite different from

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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-2, 2014 ISPRS Technical Commission II Symposium, 6 – 8 October 2014, Toronto, Canada

hurricanes’ or animal movements’, the spatial-temporal

of the trajectory is greater than the threshold values. We

characteristics of people’s trajectories are essential to be

determine characteristic points as cp, a set of characteristic

[8]

points CP = {cp1, cp2,...,cpn} can be chosen from the

have proposed a new method T-CLUS, which partitions a

trajectory. Two consecutive characteristic points constitute a

trajectory into line segments based on characteristic points.

line segment of the trajectory, and it represents the trajectory’s

T-CLUS identifies cluster structure of sub-trajectories by

partial characteristic.

means of reachability plot. With experiments on hurricane

Definition 4 (Cluster) a cluster is a density-connected set of

trajectories they have obtained the movement pattern of the

trajectory partitions. A trajectory partition is a line segment

sub-trajectories. Although the research has calculated the time

constituted by the characteristic points chosen from the same

interval between two points as time distance, it may lose some

trajectories. On the basis of distance measure, the line segments

inner properties of human GPS trajectories since they discarded

which belong to the same cluster are close to each other. Since

the absolute time spot contained by each log point in GPS

a trajectory is partitioned into multiple line segments and

trajectories data. The absolute time spot is quite important for

clustering is performed over these line segments, a trajectory

analyzing the temporal evolution of people’s movement

can belong to multiple clusters.

pattern.

Definition 5 (Representative clustered hotspot) a representative

considered in the clustering process. Zhang Yanling et al.

In this paper, an advanced clustering method by taking

clustered hotspot is the center point of a cluster. It is a

more spatial-temporal information into account is provided. It

computed track point that represents the clustered trajectory

aims at mining people’s movement pattern about the clustered

segments of the cluster. Given a cluster Ci = {LC1, LC2,…,

location and their temporal evolution characteristics.

LCn}, here LC(Pstart, Pend) is a line segment and n is the number of line segments in Ci, the representative clustered hotspot Pc is:

2. PROBLEM STATEMENT Based on a GPS trajectory data set collected in the real world, this paper develop a spatial-temporal clustering algorithm in

Pc (Lat, Lon, T) =

order to discover people’s trajectory movement pattern. Given a

1 n  ( Psi  Pei ) 2n i 1

(1)

set of trajectories, our algorithm generates a set of clusters C from a group of line segments which is constituted by the characteristic points chosen from the raw trajectories. And a

3. TRAJECTORY PARTITIONING

representative clustered hotspot is computed for each cluster Ci

In this section, a trajectory partitioning algorithm is proposed to

to stand for a hotspot region people clustered. Now the track

find out the characteristic points we defined in Definition 3.

point, trajectory, characteristic point, cluster and representative

After the characteristic points are chosen, the trajectory Tra can

clustered hotspot are defined as follows.

be partitioned at every characteristic point, and two consecutive characteristic points constitute a line segment of the trajectory.

Definition 1 (Track point) a time-stamped track point is

Therefore, Tra is partitioned into a set of line segments

defined as P (Lat, Lon, T), wherein a Lat for latitude, Lon for

{cp1cp2, cp2cp3, …, cpend-1cpend}. Literature[7] called such

longitude, T for the timestamp.

a line segment a trajectory partition, and it is also suitable for

Definition 2 (GPS trajectory) a GPS trajectory Tra is denoted

this paper. Figure 1 shows an example of a trajectory and its

as a set of track points according to the time sequence, Tra =

trajectory partitions.

{p1, p2,...,pn}, which pi.T < pi+1. T. Definition 3 (Characteristic point) characteristic points represent the points where the behavior of a trajectory changes rapidly. Given a direction angle threshold θd, a velocity threshold θv and a time threshold θt, we choose characteristic points from a trajectory Tra = {p1, p2,...,pn} when the change

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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-2, 2014 ISPRS Technical Commission II Symposium, 6 – 8 October 2014, Toronto, Canada

4. TRAJECTORY CLUSTERING People’s trajectories usually have irregular shapes and they are always clustered when people have the same activities or movements, therefore, the density-based clustering algorithm is quite applicable for us to perform clustering task on trajectory data. In this section, we develop a line-oriented density-based clustering algorithm based on the algorithm DBSCAN[10]. Firstly, the distance function used in clustering line segments is introduced in Section 4.1. Next, a spatial-temporal line segment clustering algorithm is proposed for the partitioned trajectory Figure 1. An example of trajectory partitioning Since we aim at mining people’s movement pattern from the real travel trajectories of some volunteers, we add the analysis of real trajectories into our trajectory partitioning algorithm, and the characteristic points can be divided into three categories: (1) direction characteristic points, which mean the direction angle of a track point changes obviously, such as a road crossing; (2) velocity characteristic points, which are

segments to find out clusters with similar track segments in Section 4.2. Finally we get the representative clustered hot spots of each trajectory segments cluster. Because compared with line segments clusters, clustered hot spots can show the spatial distribution and temporal evolution characteristics more intuitively. 4.1 Distance Function In our study, people’s trajectories in the real world are

related to the travel modes; (3) time characteristic points, most

taken as our research object to analyze people’s movement

time the track points of a trajectory are recorded every 5-10

behaviors. For instance, Figure 2 shows a trajectory in real

seconds but sometimes the time interval between two

world, it can be seen that the trajectory is from place A to place

consecutive points is more than several minutes, we determine

B, and there are some segments clustered near A and B. We can

these points as time characteristic points. The trajectory

infer that a person have some activities at A and B, such as

partitioning algorithm is described as follows.

working, shopping, jogging etc. If a person have some

Initially, we input a trajectory Tra = {< p1, ..., pi, ..., pn>

trajectories that always clustered somewhere at a regular time,

|(1≤i≤n)} and 3 threshold values: a direction angle threshold θd,

then we can extract the places as a clustered hot spot by our

a velocity threshold θv, a time threshold θt. And we aim to

clustering algorithm. Therefore, we need to define a distance

output a set CP of characteristic points finally. The steps of the

function in order to measure the distance between these

algorithm are:

trajectory segments in our clustering algorithm. Typically, the

First of all, the starting point p1 was added to the

distance function between line segments is put forward by

characteristic points set CP, then in the next cycle the points

considering the positional relationship or the similarities of

which change the trajectory characteristic rapidly are find out

shapes. However, most of the existing distance measurement

to add into the set CP. We compute direction changes dc,

methods only consider the spatial attribute and ignore the

velocity changes vc and time interval ti between each adjacent

temporal attribute. Thence, we define the distance function by

line segments.

taking advantage of the trajectory segments’ temporal

If one of the variations exceeds the

corresponding threshold value, then the track point which

characteristics as well as the spatial characteristics.

connects the two adjacent line segments is chosen as a characteristic point. The time complexity of the algorithm is O(log n).

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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-2, 2014 ISPRS Technical Commission II Symposium, 6 – 8 October 2014, Toronto, Canada

of a line segment, Δt is the time interval between the start point and end point. Finally the spatial distance ds is represented using Formula (4). Without losing generality, we set ξ equal to 0.5 in default.

ds    dp  (1   )dv

(4)

Figure 2. An example of a trajectory in real world The distance function used in clustering line segments

(2) The temporal distance dt. Each track point of a

consists of two parts: (1) spatial distance (ds); (2) temporal

trajectory has an absolute timestamp like “Year/Month/day

distance (dt). The data model of sub-track segments is

Hour: Minute: Second”, we take the information of hour and

expressed as: Li = , Lj = . Here, s and e

minute to measure the time distance of two trajectories but not

respectively represent a start and an end of a line segment. The

the date. As Figure 3 shows, tsi and tei are respectively the start

distance function is described as follows:

time and end time of line segment Li, tsj and tej are respectively

(1) The spatial distance ds. According to the trajectories’

the start time and end time of line segment Lj. The time interval

spatial characteristics, spatial distance ds is consisted of the

of different trajectories may intersect or not, showed in Figure

positional distance (dp) and speed distance (dv).

3 (a), (b) respectively. Therefore, we measure the temporal

The positional distance dp represents the absolute

distance in two cases using Formula (5). If there is no

positional relationship between the trajectory segments. We

intersection between the time intervals of two segments, then

measure the positional distance using Hausdorff distance

the distance is from the first segment’s start time to the second

formula (2).

segment’s end time. Otherwise, the distance is from the first segment’s start time to the second segment’s end time and minus their overlap portion. The unit of dt is minute.

dp( Li, Lj)  max( h( Li, Lj), h( Lj, Li))

Herein,

h( Li, Lj)  max (min (dist (a, b))) is aLi

bLj

the

(2)

direct

Hausdorff distance between Li and Lj. It is the maximum distance from the points of Li to the nearest point of Lj. dist (a, b) represents the Euclidean distance between the points. The speed distance dv can represent the differences of people’s motion state and travel mode. Mostly, people are going on foot when they have daily activities around

Figure 3. Time interval of different trajectories

somewhere. The speed distance dv is defined using Formula (3).

dv( Li,Lj)  |Li.speed - Lj.speed|

Here,

(3)

| t si  tej |, tei  t sj ortej  t si dt   | t si  tej |  | t sj  tei |, tei  t sj ortej  t si

L.speed  dist ( L.start, L.end ) / t is the speed

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(5)

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-2, 2014 ISPRS Technical Commission II Symposium, 6 – 8 October 2014, Toronto, Canada

clustering algorithm so that we can generate a set of clusters C

4.2 Line Segment Clustering Algorithm Since the line segment and the point in space are two different vector graphics, and the parameter thresholds defined in traditional DBSCAN algorithm are only applicable for points, we define the related conceptions as follows to describe our line segment clustering algorithm. Let D denote the set of all line segments, C the set of clusters and S the set of representative clustered hot spots. The algorithm requires three parameters Eps_space, Eps_time and MinLength.

= {LC1, LC2,…, LCm} from a set of line segments D = {L1, L2,…, Ln}. The line segments in one cluster are adjacent both in space and time. Our algorithm requires three parameters: the spatial neighborhood threshold Eps_space, the temporal neighborhood threshold Eps_time and the minimal length MinLength. The process of our clustering algorithm is described as follows: (1) The algorithm scans each segment of the database D, if the current line segment Li has not yet been classified, the

Definition 6 The spatial-temporal neighborhood Ne(Li) of a line segment Li ϵ D is defined by Ne(Li) = {Lj ϵ D | ds(Li,Lj) ≤ Eps_space and dt(Li,Lj) ≤ Eps_time}. Herein, Eps_space is the spatial neighborhood threshold and Eps_time is the temporal neighborhood threshold. The line segments in Ne(Li) are marked as neighbors of Li, they are adjacent not only in space but also in time. Definition 7 A line segment Li ϵ D is called a core line segment w.r.t. Ne(Li) and MinLength if |Ne(Li)| ≥MinLength. |Ne(Li)| denotes the total length of the neighbor segments in Ne(Li). Definition 8 A line segment Li ϵ D is directly density-reachable from a line segment Lj ϵ D w.r.t. Eps_space, Eps_time and MinLength., if Li ϵ Ne(Lj) and |Ne(Lj)| ≥ MinLength. Definition 9 A line segment Li ϵ D is density-reachable from a line segment Lj ϵ D, if there is a chain of line segments Lj, Lj-1, … ,Li+1, Li ϵ D such that Lk is directly density-reachable from Lk+1 w.r.t. Eps_space, Eps_time and MinLength. Definition 10 A line segment Li ϵ D is density-connected to a line segment Lj ϵ D w.r.t. Eps_space, Eps_time and MinLength. if there is a line segment Lk ϵ D such that both Li and Lj are density-reachable from Lk w.r.t. Eps_space, Eps_time and MinLength. Definition 11 Given a line segments set D, if there is a non-empty subset C ⊆ D, C is called a density-connected set if

neighborhood of Li Ne(Li) is computed. Each line segment of D is scanned and computed with Li. The computation of Ne(Li) is divided into two parts: First the line segments are filtered according to Eps_time, if the time interval between current line segments exceeds Eps_time, then the line segment are not allowed to enter the next computation of spatial distance; otherwise, compute the spatial distance between the two line segments according to the distance function, if it is not more than Eps_space, the line segment will be added in Ne(Li) as a neighbor of Li. (2) Ne(Li) we acquired in step (1) is used to judge whether the segment is the core segment or not. The sum of all segments in Ne(Li) is calculated, and if it is greater than the threshold MinLength, Li is a core line segment. Otherwise, Li is classified as a noise. (3) If Li is a core line segment, each neighbor in Ne(Li) is expanded outward to find out all the line segments density-connected to Li. As a result, a density-connected set of the core line segment is obtained as a cluster, and all the members in this set are marked as the same cluster. (4) The above process is repeated until all the line segments have been scanned. (5) At last we compute the center point of each cluster as the representative clustered hot spots and output them.

it satisfies the following two conditions: (1) ∀Li,Lj ϵ D, if Li ϵ C and Lj is density-reachable from Li w.r.t. Eps_space, Eps_time and MinLength, then Lj ϵ C. (2) ∀Li,Lj ϵ C, Li is density-connected to Lj w.r.t. Eps_space, Eps_time and MinLength; Now our

density-based

5. EXPERIMENT RESULTS AND DISCUSSION 5.1 Experimental Setting We use a real trajectory data set downloaded on the

spatial-temporal

clustering

algorithm for line segments is presented. Although our algorithm shares the basic characteristics with the algorithm DBSCAN, we improve the DBSCAN to spatial-temporal

Internet: the GeoLife data set. GeoLife is a project proposed by Zheng Yu et al.[3] from Microsoft Research Asia. It contains the GPS trajectory data collected from 181 volunteers during a period of 4 years in the real world. The information of a raw

This contribution has been peer-reviewed. doi:10.5194/isprsarchives-XL-2-55-2014

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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-2, 2014 ISPRS Technical Commission II Symposium, 6 – 8 October 2014, Toronto, Canada

GPS trajectory includes the track point's latitude, longitude, elevation, and time stamp. We choose the trajectory data of 15 volunteers through 2009 to 2010 from the GeoLife for experiments, which has 651 trajectories and 504172 points in total. We choose them for the reason that their trajectories are mostly in a closed region so that our study area is relatively concentrated. We extract the information of the track points' latitude, longitude and timestamp for experiments. All the experiments are conducted on a Pentium(R) Dual-Core 2.70 GHz PC with 2 GBytes of main memory, running on Windows7. Our algorithms are implemented in C# using

Figure 4. Clustered line segments of an individual

Microsoft Visual Studio 2010. However, the segments clusters are so highly overlapped in space that it is difficult to understand the spatial-temporal

5.2 Experiment Results The aim of our trajectory segment clustering analysis is to find spatial-temporal adjacent track clusters, which is a representation

of

people’s

movement

patterns.

Since

individuals always have regular travelling activities, we conduct our line segment clustering algorithm experiments on personal trajectory data of every user to find out each individual trajectory clusters. In the line segment clustering algorithm, there are three important parameters: the spatial neighborhood threshold Eps_space, the temporal neighborhood threshold Eps_time and the minimal length MinLength. The choice of different threshold value has an impact on the results of clustering. According to repeated experiments, it is found that when Eps_space is set during 0.2 to 0.6, Eps_time is set 30 minutes and MinLength is equal to 5-7 times the length of the longest track segment, we can get a preferable clustering result. We take a test on a trajectory data set of a user who had 30 trajectories through 3 months. According to the clustering

clustering results by the expression of the above-described two-dimensional plane. For that, we display the representative clustered hot spots in a vision of three-dimension. Figure 5 shows the result. We gather 15 users’ clustered hot spots which were achieved by our clustering algorithm. X axis represents the latitude, Y the longitude and Z the time. Black lines in the X-Y coordinate space display trajectories, and blue points in three-dimensional space-time represent clustered hot spots. Here, the number of clusters is that of blue points. Since the absolute time spot of people’s trajectories was taking into account, we know that the points at the same Z axis (time) in the vertical direction stand for people’s clustered hot spots which are at the same location but different moments. It can be a representation for the temporal evolution of people’s trajectories hot spots. Moreover, the points on the same horizontal plane at one time are on behalf of the spatial distribution of people’s clustered hot spots at that moment.

method, we finally get 8clusters. Figure 4 shows a part region of the clustering result. Thin black dotted lines display trajectories, and thick blue lines display clustered track segments. We observe that when people have travelling activities, their trajectory segments are clustered around some place at a certain moment.

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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-2, 2014 ISPRS Technical Commission II Symposium, 6 – 8 October 2014, Toronto, Canada

6. CONCLUSIONS In this paper, a clustering algorithm which aims at mining people’s movement pattern about the clustered location and temporal evolution characteristics is provided. As the algorithm progresses, a trajectory is partitioned into a set of line segments at characteristic points, and then, the individual partitioned line segments are clustered to find out individual clusters with similar track segments. Eventually the representative clustered hot spots of multiple users’ line segments were output. In our algorithm, the absolute time spot of people’s trajectories was taking into account as a characteristic for the temporal evolution of people’s trajectories. To show the effectiveness of our algorithm, we have performed extensive experiments using Figure 5. clustered hotspots of multipeople

a real GPS trajectory data set: GeoLife. The visual inspection results of clustering results have demonstrated that our algorithm effectively identifies the spatial distribution and

5.3 Efficiency of Algorithms

temporal evolution characteristics of people’s clustered hot

Figure 6 shows the changes of the algorithms’ execution

spots. It should be noted that the effects of parameter values is

time when the number of trajectories is increased. As we can

not analyzed enough and quantitatively. We will focus on the

see, the curve presents a linear growth, indicating that the

quantitative evaluation analysis in further study.

method in this paper has scalability. Here, we compare the algorithm in this article with original DBSCAN method. The algorithm in this article is segment-oriented, on the line

7. REFERENCES

segment covers a plurality of points, which will greatly reduce the number of scans. Therefore, compared with original

[1] Y. Zheng, L. Zhang, X. Xie, W. Ma, Mining interesting

DBSCAN method, our algorithm reduced the execution time

locations and travel sequences from GPS trajectories, In

significantly.

Proceedings of International conference on World Wild Web (WWW 2009), Madrid Spain. [2] OpenStreetMap. http://wiki.openstreetmap.org/wiki/Stats. [3] Y. Zheng, Yukun Chen, Xing Xie, Wei-Ying Ma. GeoLife2.0: A Location-Based Social Networking Service. In proceedings of the International Conference on Mobile Data Management 2009 (MDM 2009). [4] Y. Ye, Y. Zheng, Y. Chen, X. Xie, Mining Individual Life Pattern Based on Location History, In proceedings of the International Conference on Mobile Data Management 2009 (MDM 2009).

Figure 6. comparison of the algorithms’ execution time

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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-2, 2014 ISPRS Technical Commission II Symposium, 6 – 8 October 2014, Toronto, Canada

[5] Y. Zheng, L. Liu, L. Wang, and X. Xie, Learning Transportation Mode from Raw GPS Data for Geographic Applications on the Web, 17th International World Wide Web Conference (WWW 2008), Beijing, China, Apr. 2008. [6] Q. Li, Y. Zheng, Y. Chen, X. Xie, Mining user similarity based on location history, In Proceedings of ACM SIGSPATIAL conference on Geographical Information Systems (ACM GIS 2008), Irvine, CA, USA. [7] J.-G. Lee, J. Han, and K.-Y. Whang, Trajectory clustering: A partition-and-group framework, in Proc. of SIGMOD, 2007, pp. 593–604. [8] Y. Zhang, J. Liu,B. Jiang, Partition and clustering for sub-trajectories of moving objects. Computer Engineering and Applications, 2009, 45(10):65-68. [9] Chen, J., Leung, M. K. H., and Gao, Y., Noisy Logo Recognition Using Line Segment Hausdor® Distance, Pattern Recognition, 2003, 36(4): 943-955. [10] Ester, M., Kriegel, H.-P., Sander, J., and Xu, X., A Density-Based Algorithm for Discovering Clusters in Large Spatial Databases with Noise, In Proc. 2nd Int'l Conf. on Knowledge Discovery and Data Mining, Portland, Oregon, pp. 226-231, Aug. 1996.

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