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ISSN: 0039-6265 (Print) 1752-2706 (Online) Journal homepage: http://www.tandfonline.com/loi/ysre20

A point-based methodology for the automatic


positional accuracy assessment of geospatial
databases

J. J. Ruiz-Lendínez, F. J. Ariza-López & M. A. Ureña-Cámara

To cite this article: J. J. Ruiz-Lendínez, F. J. Ariza-López & M. A. Ureña-Cámara (2016) A point-


based methodology for the automatic positional accuracy assessment of geospatial databases,
Survey Review, 48:349, 269-277, DOI: 10.1179/1752270615Y.0000000030

To link to this article: http://dx.doi.org/10.1179/1752270615Y.0000000030

Published online: 30 Mar 2016.

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Download by: [CAPES] Date: 06 December 2016, At: 07:06


A point-based methodology for the automatic
positional accuracy assessment of geospatial
databases
J. J. Ruiz-Lendı́nez*, F. J. Ariza-López and M. A. Ureña-Cámara
This paper is based on our earlier paper (Ruiz-Lendı́nez et al., 2013) of this work and its new
contribution is to develop a point-based methodology for the automatic assessment of positional
and geometric components of spatial data. The starting point for our approach is the set
of homologous polygons obtained according to the methodology developed in Ruiz-Lendı́nez
et al. (2013). From these pairs of polygons, we first have identified and computed homologous
points using a metric for comparing polygonal shapes defined by Arkin et al. (1991) and then
we have applied a point-based standard developed for assessing the positional accuracy of
spatial data. Specifically, we have employed the National Standard Spatial Data Accuracy
(NSSDA) standard. The results obtained demonstrate the viability of this point-based evaluation
and its potential compared to traditional methods.
Keywords: Positional accuracy, Quality, Automatization, Point-based methods

Introduction (Ruiz-Lendı́nez et al., 2009). In addition, the number of


collected entities is often limited.
Nowadays, spatial data are very much in demand Faced with this approach, positional accuracy could
because of the use of location in many scopes (business, also be defined through measures of the differences
military, international aid, tourism, fleet management, between the location of the entities stored in a GDB
smart territories, etc.). For this reason, the quality of (tested source) and a location determined by another
these data is an issue of growing concern to the scientific GDB (reference source) having higher accuracy. Thus, if
community. In this sense, we must highlight the works the accuracy of the second one is sufficiently high, the
developed by Zandbergen (2008) and Li et al. (2012) on unmeasured difference between it and the truth can be
the description, metrics, and assessment of spatial data ignored, and consider the measure of accuracy as a
quality. Following these last authors, the description property of the tested source only (Goodchild and
of spatial data quality is necessary for providing Hunter, 1997).
the potential user of a data set with the necessary Based on this last assumption, in our earlier paper
information to decide on the fitness for use of a data set (Ruiz-Lendı́nez et al., 2013), we proposed a matching
for his or her particular application. Among all the methodology in order to automate the positional accu-
components of spatial data quality, positional quality is racy assessment of spatial data using polygonal features.
one of the quality measures defined in ISO 19157 In the above-mentioned paper, we determined a set of
(ISO, 2013) and, in turn, is determined by positional homologous elements (polygons) from two GDB using a
accuracy (as indicated by ISO 19113 (ISO, 2002)). Genetic Algorithm (GA) (Forrest et al., 1993; Herrera
The positional accuracy of geospatial databases et al., 1998; Myers and Hancock, 2001). Once we had
(GDB) has traditionally been assessed by means of the obtained the homologous polygons, we applied
measures of the positional discrepancies between the line-based positional accuracy assessment methods
location of ‘well-defined entities’ stored in the GDB and based on the buffer generation on their perimeter-lines
their true location (real world). However, abundant [Simple Buffer Overlay Method (SBOM) and Double
difficulties arise when identifying the ground-true Buffer Overlay Method (DBOM)] (Ariza-López and
location of the entities because of problems with Atkinson-Gordo, 2008b; Tveite and Langaas, 1999),
the surveying of the sample, which means long sessions which allowed us to analyze the displacement between
of observation in the field and the necessary distribution polygonal features, and therefore to assess the positional
of this sample over a wide geographical area accuracy of the GDB which plays the role of tested
source in relation to the second GDB (which plays
the role of reference source). Simple Buffer Overlay
Dpto. de Ingenierı́a Cartográfica, Geodésica y Fotogrametrı́a, Escuela Method determines the percentage of the controlled
Politécnica Superior de Jaén, University of Jaén, Paraje Las Lagunillas, perimeter-line (X) into the control perimeter-line (Q)
s/n 23071 – Jaén (Spain) buffer. Double Buffer Overlay Method determines
*Corresponding author, email lendinez@ujaen.es the intersection percentage of buffers generated around

Ñ 2016 Survey Review Ltd


Received 03 November 2014; accepted 13 March 2015
DOI 10.1179/1752270615Y.0000000030 Survey Review 2016 VOL 48 NO 349 269
Ruiz-Lendı́nez et al. Automatic positional assessment of geospatial databases

homologous perimeter-lines, the average displacement This paper is organized in five main sections. As a
of these and the oscillations provoked by crossing buf- reminder, the following section describes the main
fers (Fig. 1a). characteristics of the official cartographic databases and
This paper is based on our earlier paper samples selected for our approach. After this, we
(Ruiz-Lendı́nez et al., 2013) of this work and its main describe our positional accuracy assessment method-
contribution is to develop a point-based methodology ology in separate subsections. The fourth section shows
for the automatic assessment of positional and geo- the experimental results obtained. Finally, in section five
metric components of spatial data. To achieve this, and conclusions are presented.
on the basis of the set of homologous polygons
obtained according to the methodology developed in Official cartographic databases used
(Ruiz-Lendı́nez et al., 2013), we first have identified and Authors have used the same two official cartographic
computed homologous points between these polygons databases used in our previous work; (see Ruiz-Lendı́nez
using a metric for comparing polygonal shapes defined et al. 2013). Thus, as the tested source we have used the
by Arkin et al. (1991) and then we have applied a point- BCN25 and as the reference source we have used the
based standard developed for assessing the positional MTA10 [two official cartographic databases in Andalusia
accuracy of spatial data. This positional accuracy is (southern Spain)]. A detailed description of them,
described by means of a statistical evaluation of random a justification for their choice and the conditions that they
and systematic errors and specified by means of the root must meet can be found in the above mentioned work.
mean squared error (RMSE) or by the mean value of In this last aspect, we must highlight that both GDB
errors (m) and their standard deviation (s) (Ariza-López have been independently produced and that neither of
and Atkinson-Gordo, 2008a; Li et al., 2012) (Fig. 1b). these two GDB, in turn, have been derived from another
Specifically, we have applied the National Standard cartographic product of a larger scale through any
Spatial Data Accuracy (NSSDA) developed by the process. All this implies that none of them have undergone
Federal Geographic Data Committee (FGDC) in 1998 any action involving a degradation of their quality.
(FGDC, 1998). In addition both databases (must) should be interoper-
This new perspective of the problem has two main able, which means that we must ensure that they will be
objectives: (i) to increase significantly the number of comparable both in terms of reference system and carto-
entities (points) used in the assessment process and (ii) to graphic projection (Ruiz-Lendı́nez et al., 2011).
achieve greater efficiency than that obtained with tra- In the same way, in the above referred work a justi-
ditional points-methods, reducing the final cost of the fication for the selection of Buildings as polygonal fea-
positional assessment process. tures used to assess the positional accuracy is provided.

1 Accuracy assessment methods a Perimeter line-based positional accuracy assessment methods; b Point-based positional
accuracy assessment method

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Ruiz-Lendı́nez et al. Automatic positional assessment of geospatial databases

As a reminder, we must note that the four urban areas turning function hA(s). This function measures the angle
selected for our work are included in two sheets (num- of the counter-clockwise tangent as a function of the arc-
bers 0985 and 1009) of the MTN50k (National Topo- length s, measured from some reference point 0 on A’s
graphic Map of Spain at scale 1: 50 000). More boundary. Thus, hA(0) is the angle v that the tangent at
specifically, we have used the following urban areas: the reference point 0 makes with some reference orien-
Santa Fe (1009-03 sheet), Granada (1009-04 sheet), tation associated with the polygon (such as the x-axis).
Carmona (0985-02 sheet) and Mairena del Alcor (0985- hA(s) keeps track of the turning that takes place,
03 sheet). In order to place these urban areas, the increasing with left-hand turns and decreasing with right-
reader is referred to the web version of (Ruiz-Lendı́nez hand turns. In addition, if each polygon is rescaled so that
et al., 2013). the total perimeter length is 1, then hA is a function from
(0, 1) to (24p, 4p) (Fig. 3).
Methodology The domain of hA(s) can be extended to the entire real
line in a natural way by allowing angles to continue to
Comparing polygonal shapes and extracting accumulate as we continue around the perimeter of the
homologous points polygon A. Thus, for a simple closed polygon, the value
The workflow for the proposed methodology is shown in of hA(s þ 1) is hA(s) þ 2p for all s. In addition to this,
Fig. 2. As mentioned above, the matching methodology the function hA(s) has special properties which make it
which determines the set of homologous polygons especially suitable for identifying and extracting
between both GDB (BCN25 and MTA10) was addressed homologous points between two polygons. It is piece-
in Ruiz-Lendı́nez et al. (2013). For this reason, this issue is wise-constant for polygons, making computations
not discussed here. Thus, the starting point of our current particularly easy and fast. By definition, the function
approach has been the set of polygons matched by the GA hA(s) is invariant under translation and scaling of the
with a match accuracy value (MAV) enough to ensure polygon A. Rotation of A corresponds to a simple shift
that two polygons previously matched are sufficiently of hA(s) in the h direction.
similar to be considered as homologous [the calculation of On the other hand, the degree to which two polygons
this threshold value of MAV was also addressed in (Ruiz- A and B are similar can be measured by taking the
Lendı́nez et al., 2013)]. In order to extract homologous distance function D between their turning functions
points between these pairs of polygons, a metric derived hA(s) and hB(s). If we assume that A and B are two
from the method defined by Arkin et al. (1991) for com- matched polygons and that the reference point 0 is the
paring two polygonal shapes has been used. same for both, then D can be defined as
The most intuitive and easiest method of representing
ð1
any 2D polygon is to describe its boundary by giving a list
of coordinates of its vertices. However, following Arkin D¼ ðhA ðsÞ 2 hB ðsÞÞds
0
et al. (1991), an alternative representation of the bound-
ary of a 2D polygon denoted by A can be obtained by its The D value between the turning functions hA(s) and hB(s)
has allowed us to establish an additional criterion (toge-
ther with the MAV provided by the GA, see Newby, 1992)
for determining whether two polygons A and B previously
matched are sufficiently similar to be considered as
homologous and therefore for being used in order to
compute homologous points. The integral (1) can be
computed by adding up the value of the integral within
each strip defined by a consecutive pair of discontinuities
in hA(s) and hB(s), (see Fig. 4). These discontinuities,
in turn, are defined by length shifts (LS) (variations on s
axis owing to length changes of the polygon sides) and
angular shifts (AS) (variations on h axis owing to direction
changes of the polygon sides) of the turning functions.
In addition, if the turning functions of two homolo-
gous polygons (A and B) are overlapped (Fig. 5), each
discontinuity (defined by a pair of points on their
graphic representations) represents a vertex1 of the first
polygon (V1) that can be matched with another vertex of
the second one (V91) (homologous points). The distance
between this pair of vertices has been denoted by DV1.
Finally, and in order to avoid match non-homologous
points, two threshold values were fixed for the length
and angular shifts (denoted by TLS and TAS respect-
ively) (the method of determination of these values
will be presented in the Results section). Thus, only
when these shifts are lower than the threshold values

1 The terms ‘vertex’ and ‘point’ are used interchangeably throughout the
text to refer to punctual entities belonging to more complex geometry
2 Accuracy assessment process flow entities (polygons).

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Ruiz-Lendı́nez et al. Automatic positional assessment of geospatial databases

3 Defining the turn function h(s) (Ruiz-Lendı́nez et al., 2013)

the vertex V3 has no counterpart on B polygon, there-


fore the discontinuity D included in the turning function
hA (s) is not present in the turning function hB (s). If we
enlarge the threshold values, the vertex V3 could be
matched with either of the two closest vertices (V92 and
V94) from polygon B.

Sampling procedure
With many pairs of homologous points available, the
next step was to establish a sample design criteria. Fol-
4 Strips formed by the functions hA(s) and hB(s), lowing Ariza-López and Atkinson-Gordo (2008a), one
(Arkin et al., 1991) of the most controversial aspects of all point-based
positional accuracy assessment standards is the number
previously defined, the matching between these points and distribution of control elements. Therefore, for
will be achieved. In addition, the possible residual having an adequate representation of the assessment, a
anomalous values of DVi (A, B) distance computed for sample with a statistical basis is necessary. In this sense,
each pair of points (i and i9) that belong to homologous two issues were raised: (i) a sampling procedure, and (ii)
polygons (A and B) were removed by means of com- the size of the sample.
puting two additional parameters: the Average value With regard to the sampling procedure used, and
of DVi (A, B) (mDv(A,B)), and the RMSE of DVi (A, B) according to the Standard’s recommendations (FGDC,
(RMSEDv(A,B)). These thresholds values also acted as 1998), a grid sampling pattern was defined (covering all
control parameters to prevent the acceptance of the terrain) where samples (pairs of homologous points)
unpaired points derived from the difference in the were randomly collected within each generated cell. The
complexity of the shape of polygons owing to a possible number of cells and its size depends on the geographical
different level of generalization and scale of represen- area covered and the size of the sample. In addition, in
tation. Figure 6 shows a pair of homologous polygons. order to avoid biasing the final results only one point by
The polygon A belonging to MTA10 (larger scale rep- polygon was used. Such is the case for a polygon which
resentation GDB) is more complex and with a more occupies part of two or more cells of the sampling grid
detailed shape than its counterpart B belonging to the (Fig. 7). Thus, if we select the vertex V1 belonging to
BCN25 (GDB with a smaller scale representation and the highlighted polygon and included in the cell D4 to
higher level of generalization). In this polygon A, calculate the positional standard, we may not use the

5 Turning functions overlapping and matching of homologous points

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6 Unpaired points derived from the difference in the complexity of the shape of polygons

vertex V2 (included in the cell E4) because it belongs to standard for Federal Agencies of the USA producing
the same polygon. In this case, we must use another analogue and/or digital cartographic data and is ever
vertex V3 to be included in a different polygon. more widely used throughout the world (Ariza-López
With regards to the size of the sample, the number of and Atkinson-Gordo, 2008a). The main reason for
points should be enough to ensure, with a given level of choosing NSSDA as an accuracy assessment measure
confidence, that a GDB with a non-acceptable quality was that it gives results in a more open way than the
level will not be acquired, and it should always be large previously developed tests because it leaves to the user’s
enough for the hypothesis of normality to be fulfilled, understanding whether or not the derived accuracy
this being determined by the laws of large numbers in reaches expectations, which means, in a practical way, if
statistics. For these reasons standards always suggest at the product passes or fails the user’s accuracy expec-
least 20 points (FGDC, 1998). Nevertheless, this number tations. So acceptance or rejection is the responsibility of
seems to be very small and some authors as Li (1991) the user. However, the test only tells us: ‘the product has
and Newby (1992) suggest larger numbers. In this sense, been checked/compiled for N meters of horizontal/vertical
we highlight the work of Ariza-López and Atkinson- accuracy at 95% of level of confidence’ (FGDC, 1998).
Gordo (2008a) in which they suggest a sample size of 100 Table 1 summarizes the steps for applying the standard.
points when applied NSSDA in order to obtain 95%
confidence level on estimation and variability within a
range of + 5%. Following these authors, for the mini-
Results
mum proposed sample size (n¼20 points) the variability The results obtained by applying the proposed pos-
of results is on the order of + 10–11%, which means an itional control methodology based on points to the
approximate variability of the confidence level of 90%. described GDB are shown below. The following sub-
Finally, the last step of our methodology was the sections explain the thresholds setting; report the results
application of the NSSDA standard. The NSSDA of the extraction of homologous points and present the
standard implements a statistical and testing method- results provided by the NSSDA standard.
ology for estimating the positional accuracy of a GDB
by means of points previously selected. National Stan-
dard Spatial Data Accuracy is a compulsorily fulfilled
Table 1 Summary of the NSSDA when applied to the
horizontal component
1 – Select a sample of a minimum of 20 check points (n. ¼ 20).
2 – Compute individual errors for each point i:
hxi ¼ x 10ki 2 x 25ki . . .hyi 2 y 10ki 2 y 25ki

3 – ComputesRMSE
ffiffiffiffiffiffiffiffiffi for each component:
sffiffiffiffiffiffiffiffiffi
Sh2xi Sh2yi
RMSEX ¼ RMSEY ¼
n n

4 – Compute the horizontal RMSE using appropriate expression:


– If RMSEX ¼ RMSEY then
NSSDAðHÞ ¼ 2·44771=2 RMSE R ¼ 2·4477 RMSE X

– If RMSEX?RMSEY and 0?6,(RMSEmin/RMSEmax),1 then


NSSDAðHÞ 5 2·4477 0·5 ðRMSE X þ RMSEY Þ

Note: If error is normally distributed and independent in each of


the x- and y-components, the factor 2?4477 is used to compute
horizontal accuracy at the 95% confidence level (Greenwalt and
7 Grid sample pattern Shultz, 1962).

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Thresholds setting Matching and extracting of homologous points


For setting the TLS and TAS values a sample of 32 pairs Table 3 shows the results of the matching between points
of homologous polygons belonging to the work data- for each urban area and under the TLS and TAS values
bases with a number of vertices ranged from 3 to 20 was previously discussed. In this table, the number of mat-
used. Over this sample, pairs of homologous points were ched points relates to those which are detected on pairs
identified taking into account all possible combinations of polygons homologous, and according to the sampling
of TAS and TLS including values within the following procedure defined.
ranges: TAS range from 0 to 1 rad (with D¼0?2 rad), The total number of matched points from our set of
and TLS range from 0 to 10 m (with D ¼ 2 m) (this last polygons was 4761 representing 22?3 and 14?2% of the
value must be rescaled for each case). Finally, for each total number of vertices for BCN25 and MTA10 re-
setting of threshold values a confusion matrix was spectively. The percentage results achieved are greatly
computed. In this matrix, errors of omission were conditioned not only by the restrictive values of TAS
defined by the rejection of right matched pairs of points, and TLS which act as control parameters to prevent the
and errors of commission were defined by the acceptance acceptance of unpaired points derived from the differ-
of erroneously matched pairs of points. The last one ence in the complexity of the shape of polygons owing to
(commission) is the type of error which must be avoided a possible different level of generalization and scale of
as much as possible because it is which add noise into the representation, but also by the limited number of pairs
matching process. With this last consideration in mind, of polygons used. Authors must remember that not all
the criterion for setting the thresholds was to maximize matched polygons are sufficiently similar to be con-
the number of well-matched points and to minimize the sidered as homologous.
number of points erroneously matched which are The high quantity of homologous points computed
accepted. Table 2 shows the results for some of the 25 have also allowed us to obtain positional distortion
possible combinations of TLS and TAS. This table models by mapping the differences between BCN25 and
includes the optimal combination that we were MTA10 locations calculated from the coordinates of the
looking for. homologous points obtained for each BDG. Following
The first option (0?2 rad/2 m) presents the lowest Hunter and Goodchild (1996), these differences are
percentage of errors of commission. However, this assumed to be strongly spatially autocorrelated. How-
option was discarded owing to low percentage of correct ever, this spatial dependence has not been proved and
matches provided. In this sense, we can conclude that many others authors argue that positional distortion
the values assigned to the parameters are too restrictive does not act as a regionalized variable. For this reason,
for our purposes. The opposite occurs in the last three these models must be considered merely as a practical
options (0?6, 0?8 and 1 rad/10 m). Thus, although sig- tool to help us understand the positional distortion
nificant percentages of correct matches were obtained, behavior. Figure 8 shows the distortion model corre-
they were achieved at the cost of including error rates sponding to the case of Carmona (0985 sheet).
also high fee. Therefore, these options were also dis-
carded. So, the option chosen was the second (with NSSDA standard results
values assigned to the parameters of 0?4 rad and 4 m The results obtained by applying the NSSDA standard
respectively). This option was selected because it pre- to the selected samples are shown in Table 4. The
sents the ratio (Id. Correct/Commissions) more suitable standard was applied on 20 different samples for each
according to the criteria mentioned above. sample size (20 and 100 points) in order to obtain give

Table 2 Per cent distribution of matched points according to the TAS and TLS values

Points matched [%]

TAS/TLS Pairs of polygons Well-matched Omission Commission Nonmatched points [%]

0?2 rad/2 m 32 8?5 3?7 1?6 86?2


0?4 rad/4 m 32 30?7 5?7 3?4 60?2
0?6 rad/6 m 32 35?5 10?1 15?3 39?1
0?8 rad/8 m 32 38?1 15?7 27?7 18?5
1 rad/10 m 32 27?4 21?2 35?3 16?1

Table 3 Per cent distribution of matched points for each urban area

Total number of % of matched


Vertices points

Urban area Number of Polygons Number of


Sheet denomination BCN/MTA BCN25 MTA10 matched points BCN25 MTA10

0985 Mairena del Alcor 847/875 4421 6179 452 10?22 7?31
0985 Carmona 851/870 5276 6606 579 10?97 8?76
1009 Santa Fe 649/670 2696 4543 352 13?05 7?74
1009 Granada 2250/2301 8999 16144 3378 37?53 20?92

274 Survey Review 2016 VOL 48 NO 349


Ruiz-Lendı́nez et al. Automatic positional assessment of geospatial databases

8 Positional distortion model Carmona case (0985 sheet)

greater statistical significance of the results. In addition, 15?9 m (confidence level ¼ 95%). In addition, the mean
the normal distribution of positional errors was checked accuracy values present a clear decreasing tendency
for each sample (40). All cases show homogeneous when the sample size increases. The same happens with
results with mean accuracy values that range from 9?7 the mean deviation values. Therefore, these results
to 16?3 m (confidence level ¼ 90%) and from 9?5 to agreed with one of the main conclusions derived from

Table 4 Positional accuracy assessment by means NSSDA

Sample size ¼ 20 Sample size ¼ 100

Mean accuracy Mean accuracy


Urban area Number of (90% confidence Number of (95% confidence
denomination Samples level) (m) Mean deviation (m) Samples level) (m) Mean deviation (m)

Mairena del Alcor 20 11?1 0?80 20 10?9 0?71


Carmona 20 9?7 0?59 20 9?5 0?54
Santa Fe 20 16?3 1?40 20 15?9 1?31
Granada 20 11?2 1?07 20 10?7 0?92

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Ruiz-Lendı́nez et al. Automatic positional assessment of geospatial databases

Table 5 Comparison between positional assessment results

Urban area denomination Measure/Method Value (m) Measure/Method Value (m)

Mairena del Alcor Perimeter-line uncertainty/SBOM 11?2 RMSE/NSSDA 10?9


Carmona Perimeter-line uncertainty/SBOM 9?2 RMSE/NSSDA 9?5
Santa Fe Perimeter-line uncertainty/SBOM 16?1 RMSE/NSSDA 15?9
Granada Perimeter-line uncertainty/SBOM 10?4 RMSE/NSSDA 10?7

the work of Ariza-López and Atkinson-Gordo (2008a): data acquisition, (ii) the low computational time
The NSSDA has a little tendency to underestimate accu- required compared to traditional methodologies
racy when the minimum proposed sample size (n ¼ 20 (especially when applied on a large number of GDB, and
points) is used. if we consider field work for GPS data acquisition).
Finally, these results are very close to those obtained However, one of the limitations of this research is the
using line-based methods (specifically when the SBOM is effect of the accuracy of the reference data. While in our
used) for these same set of BDG, (see Ruiz-Lendı́nez case, the positional accuracy of the reference data is
et al. 2013). Table 5 shows a comparison between the significantly better than the data being evaluated,
values of uncertainty for a 95% level of confidence improved accuracy of reference data may provide more
achieved by the SBOM, and the values provided by the robust results. For this reason, in future studies we plan
NSSDA standard for this same level of confidence. to diversify our work to different map scales.
In this sense, Carmona case shows again better results
than the other cases, achieving uncertainty values lower
than the values achieved by the rest of the cases. Acknowledgement
This work has been partially funded by the Ministry of
Computation time Science and Technology of Spain under Grant
An important advantage of the application of the No. BIA2011-23217 and by the Regional Government
metrics and operations described above to assess pos- of Andalusia (Spain). The authors also acknowledge the
itional accuracy of GDBs is the low computational time Regional Government of Andalusia (Spain) for the
required compared to traditional methodologies (es- financial support since 1997 for their research group
pecially when applied on a large number of GDB, and if (Ingenierı́a Cartográfica) with code PAIDI-TEP-164.
we consider field work for GPS data acquisition). This is
particularly significant measuring the efficiency of our
approach by means of the ratio (number of points/ References
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