Navigation Software Research Articles

Image Guidance in Deep Brain Stimulation Surgery to Treat Parkinson's Disease: A Comprehensive Review.

Deep brain stimulation (DBS) is an effective therapy as an alternative to pharmaceutical treatments for Parkinson's disease (PD). Aside from factors such as instrumentation, treatment plans, and surgical protocols, the success of the procedure depends heavily on the accurate placement of the electrode within the optimal therapeutic targets while avoiding vital structures that can cause surgical complications and adverse neurologic effects. Although specific surgical techniques for DBS can vary, interventional guidance with medical imaging has greatly contributed to the development, outcomes, and safety of the procedure. With rapid development in novel imaging techniques, computational methods, and surgical navigation software, as well as growing insights into the disease and mechanism of action of DBS, modern image guidance is expected to further enhance the capacity and efficacy of the procedure in treating PD. This article surveys the state-of-the-art techniques in image-guided DBS surgery to treat PD, and discusses their benefits and drawbacks, as well as future directions on the topic.

ПІДВИЩЕННЯ ЕФЕКТИВНОСТІ ЗАСТОСУВАННЯ СУЧАСНИХ РАДІОЛОКАЦІЙНИХ ЗАСОБІВ ДЛЯ ПОТРЕБ ВІЙСЬКОВО-МОРСЬКИХ СИЛ ЗБРОЙНИХ СИЛ УКРАЇНИ

The development of the surface reflection system, based on the principles and standards adopted in NATO member states, envisages modernization of existing and creation of new RTPs of the Ukrainian Navy, equipped with modern weapons and equipment and able to adequately and flexibly respond to threats to the state from the sea. In the structure of maritime information networks, modern shore and ship radars (RADAR / ARPA) provide a significant part of the information content of the relevant databases. For example, the domestic mobile radar station SR-210 («Delta-M»), designed for: observation of the ground, surface and air situation in the area of protection of protected objects; control of ground, surface and airspace in the area of tactical units and control of border, customs and economic zones. The design of the radar provides the possibility of its placement on all classes of mobile and stationary media (including small - off-road cars, armored vehicles, etc.). In the course of research, in order to study the organization of information exchange during the construction of technical subsystems of a promising system for displaying the surface situation, a test software package for obtaining and using navigation («target») data was created. The software package is responsible for displaying and entering information about the positions of ships (own ship, etc.) and available targets on electronic maps. During the research, the OpenCPN software application was chosen as a marine navigation software. It can be used to obtain information about «objects of observation», the location, speed and course of the vessel (ship). Information obtained by radar on the position of ships and their courses can be displayed on an electronic map. In addition, the possibilities of connecting additional equipment to the SR-210 radar and ways to receive ARPA-messages in the NMEA-0183 format from external interfaces were considered, but in the course of research, unfortunately, there was no possibility of practical development of theoretical developments directly on the SR-210 radar. Therefore, a similar radar (RADAR / ARPA) manufactured by FURUNO was used to test certain modes of operation of modern radar facilities for receiving ARPA messages. It should be noted that the radar on the RTP is designed primarily to solve problems of monitoring the surface situation, first of all, to identify and identify targets, determine the parameters of the selected radar targets and their support, as well as provide the necessary data on observed targets to external consumers. Thus, as a result of the analysis and evaluation of the hardware capabilities of modern radars (RADAR/ARPA) and the processes of obtaining relevant ARPA-messages in NMEA-format, it is possible to conclude that they have all the necessary dynamic parameters of the monitored targets. The use of radar as part of the RTP and the creation of an effective system for reflecting the surface situation for the needs of the Navy of the Armed Forces of Ukraine. Keywords: radar means, radio engineering fast, display system, surface situation.

Stealthy Attacks against Robotic Vehicles Protected by Control-based Intrusion Detection Techniques

Robotic vehicles (RV) are increasing in adoption in many industrial sectors. RVs use auto-pilot software for perception and navigation and rely on sensors and actuators for operating autonomously in the physical world. Control algorithms have been used in RVs to minimize the effects of noisy sensors, prevent faulty actuator output, and, recently, to detect attacks against RVs. In this article, we demonstrate the vulnerabilities in control-based intrusion detection techniques and propose three kinds of stealthy attacks that evade detection and disrupt RV missions. We also propose automated algorithms for performing the attacks without requiring the attacker to expend significant effort or to know specific details of the RV, thus making the attacks applicable to a wide range of RVs. We demonstrate the attacks on eight RV systems including three real vehicles in the presence of an Intrusion Detection System using control-based techniques to monitor RV’s runtime behavior and detect attacks. We find that the control-based techniques are incapable of detecting our stealthy attacks and that the attacks can have significant adverse impact on the RV’s mission (e.g., deviate it significantly from its target, or cause it to crash).

E-Navigating in highly-constrained waters: a case study of the Vistula Lagoon

AbstractIn recent years the transition of marine navigation to the digital era has been gaining momentum. Implementation of e-Navigation solutions varies from country to country in terms of their priorities, goals, levels and effects. Maritime authorities in Poland have been setting the pace in this transition process, not only in Poland but also in general as a global solution. The most recent example is the planned deployment of a variety of e-Navigation tools in the Vistula Lagoon: from GNSS-RTK Ground-Based Augmentation System, to virtual and synthetic aids to navigation, high-resolution bathymetry and advanced navigational software for piloting. The major objectives of this paper are, first, to summarise recent dynamics in the e-Navigation field, and second, to present a practical implementation of the e-Navigation concept in the Vistula Lagoon area.

Mars curiosity rover mobility trends during the first 7 years

AbstractNASA's Mars Science Laboratory (MSL) Curiosity rover landed on Mars on August 6, 2012. In the 7 years between landing and August 6, 2019 (sol 2488), Curiosity has driven 21,318.5 m over a variety of terrain types and slopes, employing multiple drive modes with varying amounts of onboard autonomy. Curiosity's drive distances each sol have ranged from its shortest drive of 2.6 cm to its longest drive of 142.5 m, with an average drive distance of 28.9 m. Real‐time human intervention is not possible during Curiosity's drives due to the latency in uplinking commands and downlinking telemetry. Instead, the operations team relies on Curiosity's fault protection, autonomous navigation, and visual odometry software to keep the rover safe during drives. During its first 7 years on Mars, Curiosity has attempted 738 drives. While 622 drives ran to completion, 116 drives were prevented or stopped early by Curiosity's fault protection software. The primary risks to mobility success have been wheel damage, wheel entrapment, progressive wheel sinkage, and the potential for hardware or cable failures that result in an inability to command one or more steer or drive actuators. In this paper, we describe Curiosity's mobility subsystem, mobility trends over the first 21.3 km of the mission, operational aspects of mobility fault protection, risks to continued mobility success, and risk mitigation strategies.

Optimization method of navigation information mode under the condition of multi-exit city expressway

In recent years, mobile phone navigation software has been widely used, but the voice broadcast information of many navigation software is not clear, which is easy to cause confused driving. Urban expressway is an important artery of the city. The road and traffic conditions of urban expressways are extremely complicated, and there are many types of exits, which can easily cause confused driving. Therefore, optimization of navigation modes under the condition of multi-exit urban expressways is particularly important. Based on the experimental data of simulated driving, this paper focuses on the influence of voice navigation broadcast timing on driving under urban expressway, founding driver’s behavior is significantly different under diverse navigation modes. This paper uses the principal component analysis method to comprehensively evaluate the navigation broadcast timing, and gives the optimal navigation broadcast timings for various multi-exit urban expressways. In most cases, the first broadcast time should be 1500m from the exit. This paper clarifies the impact of navigation broadcast timing on driving, and optimizes the navigation mode of multi-exit urban expressways, which is of great significance for reducing yaw under navigation and improving navigation services.

Cone-beam computed tomography cinematic rendering: clinical, teaching and research applications.

Cone-beam computed tomography (CBCT) is an essential imaging method that increases the accuracy of diagnoses, planning and follow-up of endodontic complex cases. Image postprocessing and subsequent visualization relies on software for three-dimensional navigation, and application of indexation tools to provide clinically useful information according to a set of volumetric data. Image postprocessing has a crucial impact on diagnostic quality and various techniques have been employed on computed tomography (CT) and magnetic resonance imaging (MRI) data sets. These include: multiplanar reformations (MPR), maximum intensity projection (MIP) and volume rendering (VR). A recent advance in 3D data visualization is the new cinematic rendering reconstruction method, a technique that generates photorealistic 3D images from conventional CT and MRI data. This review discusses the importance of CBCT cinematic rendering for clinical decision-making, teaching, and research in Endodontics, and a presents series of cases that illustrate the diagnostic value of 3D cinematic rendering in clinical care.

КЛАСТЕРНЫЙ АНАЛИЗ РЕГИОНОВ РФ ДЛЯ ВЫЯВЛЕНИЯ ТЕРРИТОРИЙ – ДРАЙВЕРОВ УСТОЙЧИВОГО РАЗВИТИЯ: НАЛОГОВАЯ КОМПОНЕНТА

The relevance of tax clustering is due to the need for a competent scientifically grounded definition of territories that are drivers of economic growth. The aim of the study was to identify, on the basis of econometric methods, clusters of the regions of the Russian Federation by a set of indicators reflecting their tax status, tax administration, informatization of the tax environment. The Russian regions were grouped into clusters by a set of tax indicators based on official statistical data for 2018 using SPSS, Rstudio, Anaconda Navigator software. As a result of the anomalous values, five federal subjects were excluded from the analysis: Moscow, Sevastopol, Ingushetia, Khanty-Mansi and Yamalo-Nenets Autonomous Okrugs. Econometric analysis made it possible to conclude that there are three clusters of regions according to the analyzed parameters: 1) the least functionally proportional (7 regions), which have the lowest tax intensity of the gross regional product, the highest debt intensity of the gross regional product and the highest level of tax debt of the employed population, companies, and individual entrepreneurs; 2) medium functionally proportional (50 regions) with the lowest efficiency of tax administration, the highest coefficient of tax collection, the lowest level of taxation of the employed population and individual entrepreneurs (but not companies), the lowest level of tax debt of all analyzed subjects, and the lowest additional tax charges and sanctions for violation of tax legislation from tax audits, 3) the most comprehensively successful (22 regions), which are characterized by the highest tax intensity of the gross regional product and the highest level of tax revenues generated by the employed population, companies, and individual entrepreneurs. The regions of this cluster have the most effective taxation of value added and financial results of organizations. Among the regions of the third group, the leaders in terms of digital indicators are: Tyumen Oblast, Murmansk Oblast, Republic of Tatarstan, Leningrad Oblast. The study can develop in the following promising directions: 1) inclusion in the cluster analysis of indicators, not typical for the characteristics of the tax environment, that most fully reflect the influence of external diverse factors on the tax state of the regions; 2) extrapolation of the results to assess the tax status of the territories of other states; 3) the need to improve the tax clustering method based on artificial intelligence technology.

Software Navigation System for the Orientation of a Transport Robot on the Ground

The article is devoted to the study of the possibilities of simultaneous localization and mapping (SLAM) navigation and map construction, as well as the development of a hybrid navigation system for more accurate map construction. The work is based on existing research in the field of navigation systems. The article analyzes methods of hybridization of navigation systems, and studies developments to improve localization accuracy. In addition, an analytical review of existing slam analogues and existing navigation systems was conducted. As a result, the VINS-g hybrid navigation system was developed and tested in various scenarios. Based on the results of testing on the simulator, conclusions were made that indicate the achievement of more accurate navigation in open terrain with a partial loss of signal from the satellite. The developed system allows precise navigation and mapping in SLAM models for drones in a static environment.

Proposal of Robot Software Platform with High Sustainability

At present, various robotics competitions are being held, including the Tsukuba Challenge. The purpose of participating in a robotics competition is to confirm what can be done with the current technology and to demonstrate new research results. Participating teams often use open source software (OSS) for path planning and autonomous navigation. OSS is advantageous in facilitating participation in robotics competitions. However, applying it to a new robot is difficult when a new research does not involve OSS. In addition, robot systems do not consist only of OSS, and the burden of developing and maintaining other systems is significant. To solve the above problems, a software platform that allows for the addition of research achievements of individual robots is desired. With such a platform, research elements that have already been developed can be shared without the need to develop a new system. This makes it easier to maintain and manage the system and increase its sustainability.

The experience of surgery and endovascular procedure of cerebrovascular disease in the hybrid operating room; Multi-axis robotic C-arm DSA system.

ObjectiveTo report on combined surgical and/or endovascular procedures for cerebrovascular disease in a hybrid operating room (OR).MethodsBetween October 2016 and June 2020, 1832 neurosurgical procedures were performed in a hybrid OR. Our institution’s hybrid OR consists of a multi-axis robotic C-arm monoplane digital subtraction angiography (DSA) system with an operating table, 3D-rotational DSA, cone-beam computed tomography (dyna CT), and real-time navigation software. Procedures were categorized into six categories according to purpose: (1) simple diagnosis and follow-up, (2) simple endovascular procedure, (3) combination of surgery and endovascular procedures, (4) rescue surgery after endovascular procedures, (5) frameless stereotactic procedure, and (6) other surgeries requiring C-arm.ResultsOf 1832 neurosurgical procedures in the hybrid OR, 1430 were simple diagnosis and follow-up cases, 330 simple endovascular procedures, 8 combination of surgery and endovascular procedures, 15 rescue after endovascular procedure, 40 frameless stereotactic procedures, and 9 other surgeries. Eight cases of combination of surgery and endovascular procedures, safely performed without wasting time on patient transfer, were performed in seven bypass end endovascular procedures and one case of bow-hunter syndrome in complex cerebrovascular disease. After embolization, craniotomy (or craniectomy) and intracerebral hemorrhage removal were performed in eight patients in-situ. Of the 40 frameless stereotactic procedure, 37 were extraventricular drainage before/after coil embolization in subarachnoid hemorrhage patients. They all mounted conduits in their planned locations.ConclusionsA hybrid OR for combined endovascular and surgical procedures represents a safe and useful strategy for cerebrovascular disease. In hybrid ORs various neurosurgical procedures can be safely and conveniently performed. Hybrid OR will pioneer a new era in neurosurgical procedures.

Desktop 3D Printing: Key for Surgical Navigation in Acral Tumors?

Surgical navigation techniques have shown potential benefits in orthopedic oncologic surgery. However, the translation of these results to acral tumor resection surgeries is challenging due to the large number of joints with complex movements of the affected areas (located in distal extremities). This study proposes a surgical workflow that combines an intraoperative open-source navigation software, based on a multi-camera tracking, with desktop three-dimensional (3D) printing for accurate navigation of these tumors. Desktop 3D printing was used to fabricate patient-specific 3D printed molds to ensure that the distal extremity is in the same position both in preoperative images and during image-guided surgery (IGS). The feasibility of the proposed workflow was evaluated in two clinical cases (soft-tissue sarcomas in hand and foot). The validation involved deformation analysis of the 3D-printed mold after sterilization, accuracy of the system in patient-specific 3D-printed phantoms, and feasibility of the workflow during the surgical intervention. The sterilization process did not lead to significant deformations of the mold (mean error below 0.20 mm). The overall accuracy of the system was 1.88 mm evaluated on the phantoms. IGS guidance was feasible during both surgeries, allowing surgeons to verify enough margin during tumor resection. The results obtained have demonstrated the viability of combining open-source navigation and desktop 3D printing for acral tumor surgeries. The suggested framework can be easily personalized to any patient and could be adapted to other surgical scenarios.

Multi-factor Comprehensive Prediction of Delay Time through Congested Road Sections

The navigation software uses the positioning system to determine the traffic conditions of the road sections in advance, so as to predict the travel time of the road sections. However, in the case of traffic congestion, the accuracy of its prediction time is low. After empirical analysis, this paper establishes a multi-factor synthesis by studying 7 factors: traffic flow, number of stops, traffic light duration, road network density, average speed, road area, and number of intersections the prediction function achieves the purpose of accurately predicting the transit time of congested road sections. The gray correlation coefficients of the seven factors obtained from the gray correlation analysis are: 0.9827, 0.9679, 0.6747, 0.8030, 0.9445, 0.8759, 0.4328. The correlation coefficients of traffic volume, number of stops, average speed, and road congestion delay time were all about 95%, which were the main influencing factors of the study. The prediction needs to be based on functions. This paper fits the main influencing factors to the delay time of congested roads. It is found that the delay time varies parabolically with the traffic flow and the number of stops, and linearly with the average speed. Because the three impact factors have different weights on the delay time of congested roads, demand takes the weight of each factor. Therefore, the gray correlation coefficients occupied by the main influencing factors are normalized to obtain the weights of three of 0.340, 0.334, and 0.326. The weighted fitting function is subjected to nonlinear summation processing to obtain a multi-factor comprehensive prediction function. By comparing the original data with the fitting data and calculating the accuracy of the fitting function, it is found that the accuracy of each fitting function is close to 0, the residual error, the relative error is small, and the accuracy is high.

Providing more regular road signs infrastructure updates for connected driving: A crowdsourced approach with clustering and confidence level

Road signs, such as traffic signs, traffic lights or pavement markings, are essential elements for the regulation of driving. Sensors embedded in vehicles (e.g., cameras) are increasingly able to detect them to provide near real-time assistance to the driver, with features such as the current speed limitation at any moment. When sensors are not able to detect road signs (e.g., because of bad weather conditions or obstructions on the road), these features usually rely on in-vehicle digital map layers. However, in-vehicle digital maps are not often up-to-date because their update cycles from map providers are often lengthy (at the scale of several months). For example, a new speed limitation on a road can sometimes take months to be reflected in the vehicle's digital map. To solve this problem, a crowdsourced process that can be used to provide more regular in-vehicle digital map updates (on an hourly or daily basis, for example) is proposed. In this paper, we focus on a crucial step in this process that consists of tracking road sign infrastructure changes by incrementally consolidating crowdsourced cameras' detections of road signs and computing the real positions of the signs, while removing noise due to the imprecision of GPS positions in addition to false positive and false negative detections. This goal is achieved by using non-supervised geospatial clustering techniques and Bayesian probabilities to compute existence probabilities for road signs over time. Overall, this computation is performed in a big data context while also addressing security, privacy, safety and scalability issues. As a proof of concept, two experiments are conducted with true field data and they clearly demonstrate the relevance of the proposed approach. The method or the platform can be useful for many market players such as car manufacturers, map providers, or GPS providers (including navigation software providers) to provide more frequent map updates, to make connected driving easier and safer. It can also be useful for road infrastructure maintenance by helping to identify road signs that are poorly positioned or are not very visible.

Intraoperative navigation and preoperative templating software are associated with increased glenoid baseplate screw length and use of augmented baseplates in reverse total shoulder arthroplasty.

BackgroundPreoperative templating software and intraoperative navigation have the potential to impact baseplate augmentation utilization and increase screw length for baseplate fixation in reverse total shoulder arthroplasty (rTSA). We aimed to assess their impact on the (1) baseplate screw length, (2) number of screws used, and (3) frequency of augmented baseplate use in navigated rTSA.MethodsWe compared 51 patients who underwent navigated rTSA with 63 controls who underwent conventional rTSA at a single institution. Primary outcomes included the screw length, composite screw length, number of screws used, percentage of patients in whom 2 screws in total were used, and use of augmented baseplates.ResultsNavigation resulted in the use of significantly longer individual screws (36.7 mm vs. 30 mm, P < .0001), greater composite screw length (84 mm vs. 76 mm, P = .048), and fewer screws (2.5 ± 0.7 vs. 2.8 ± 1, P = .047), as well as an increased frequency of using 2 screws in total (35 of 51 patients [68.6%] vs. 32 of 63 controls [50.8%], P = .047). Preoperative templating resulted in more frequent augmented baseplate utilization (76.5% vs. 19.1%, P < .0001).ConclusionThe difference in the screw length, number of screws used, and augmented baseplate use demonstrates the evolving role that computer navigation and preoperative templating play in surgical planning and the intraoperative technique for rTSA.

Phollower—The Universal Autonomous Mobile Robot for Industry and Civil Environments with COVID-19 Germicide Addon Meeting Safety Requirements

This paper describes the development of Phollower—an autonomous mobile robot intended to perform various logistical tasks in both industrial and civil environments. Phollower is equipped with the latest types of industrial components and sensors. It also employs advanced embedded navigation and localization software to create its own virtual maps and thereby to navigate autonomously within the mapped area. The whole development process has been focused on building a device that meets European safety standards. Phollower is a universal mobile platform that can be quickly expanded with specialized add-ons. A germicidal add-on for disinfection of indoor areas using UV-C light is described as a technology that helps to battle with the ongoing COVID-19 pandemic crisis. The hardware topology combined with the proposed open Programmable Logic Controller (PLC) code and open-Powerlink communication bus creates a unique and easily extendable robot platform.

Speeding up, slowing down, breaking down: an ethnography of software-driven mobility

ABSTRACT The dynamics of software – and thus also of its development – is an inherent part of the story of how mobilities are made and work. Building on this argument, this ethnographic study explains how navigation software development is caught in a constant culture of acceleration through commercial competition and shifting transport conditions, on the one hand, and a logic of routing and navigation based on creating the fastest route possible for its users, on the other hand. Behind this overall process of technological acceleration lies a multiplicity of forces – sometimes accelerating, but at other times slowing down, stuttering, moving in reverse, or completely coming to a halt in breakdown, shifting the pace of such technological progress. Bringing software development practice into the picture of how mobility systems work (or don’t work) allows us to understand the multiple temporal orders of speeding up and slowing down that push and pull at the fabric of our mobile infrastructures. Doing so will help us counter the popular discourse that our networked, seamless digital technologies are invincible. Based on an ethnography at ‘BerlinTech’, a large commercial navigation software company, this paper provides a multilayered understanding about the temporal forces fuelling our software driven mobility infrastructures.

Preoperative Computer-Assisted Laparoscopy Planning for the Minimally Invasive Surgical Repair of Hiatal Hernia.

Minimal invasive surgical procedures such as laparoscopy are preferred over open surgery due to faster postoperative recovery, less trauma and inflammatory response, and less scarring. Laparoscopic repairs of hiatal hernias require pre-procedure planning to ensure appropriate exposure and positioning of the surgical ports for triangulation, ergonomics, instrument length and operational angles to avoid the fulcrum effect of the long and rigid instruments. We developed a novel surgical planning and navigation software, iMTECH to determine the optimal location of the skin incision and surgical instrument placement depth and angles during laparoscopic surgery. We tested the software on five cases of human hiatal hernia to assess the feasibility of the stereotactic reconstruction of anatomy and surgical planning. A whole-body CT investigation was performed for each patient, and abdominal 3D virtual models were reconstructed from the CT scans. The optical trocar access point was placed on the xipho-umbilical line. The distance on the skin between the insertion point of the optical trocar and the xiphoid process was 159.6, 155.7, 143.1, 158.3, and 149.1 mm, respectively, at a 40° elevation angle. Following the pre-procedure planning, all patients underwent successful surgical laparoscopic procedures. The user feedback was that planning software significantly improved the ergonomics, was easy to use, and particularly useful in obese patients with large hiatal defects where the insertion points could not be placed in the traditional positions. Future studies will assess the benefits of the planning system over the conventional, empirical trocar positioning method in more patients with other surgical challenges.

Indirect Control of an Autonomous Wheelchair Using SSVEP BCI

Having the capability to control a wheelchair using brain signals would be a major benefit to patients suffering from motor disabling diseases. However, one major challenge such systems are facing is the amount of input needed over time by the patient for control. Such a navigation control system results in a significant mental burden for the patient. The objective of this study is to develop a BCI system that requires a low number of inputs from a subject to operate. We propose an autonomous wheelchair that uses steady-state visual evoked potential based brain computer interfaces to achieve the objective. A dual mode system was implemented in this study to allow the autonomous wheelchair to work in both unknown and known environments. Robot operating system is used as the middleware in this study for the development of the algorithm to operate the wheelchair. The mental task for the subject using this wheelchair is reduced by relegating the responsibility of navigation control from the subject to the navigation software.

Graphic Simplification and Intelligent Adjustment Methods of Road Networks for Navigation with Reduced Precision

With the rapid development of high-precision road network maps, low-precision road network maps (basic data unrelated to hardware) will need to be directly produced for traditional navigation software from high-precision maps. To do so, large amounts of vector data representing road networks must be simplified and spatial directional similarity in road networks must be maintained while reducing precision. In this study, an elite strategy genetic algorithm based on the grid model is applied to spatial directional adjustment in road networks for producing road network maps for traditional navigation. Firstly, semantic features and critical vertices are extracted from the road network with high precision. Secondly, some high-precision vertices are eliminated under constraints of the digital navigation map. During this process, the local shape maintenance of the road is considered, and the destruction of the spatial topological relationships is avoided. Thirdly, a genetic algorithm for minimizing the total changes in road azimuths at nodes of road networks is developed to maintain spatial directional relationships while reducing precision. Experimental results and visualization effects on the test data of different cities show that this method is suitable for generating road network maps for traditional navigation software from high-precision ones.