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Extracting Topographic Data from Online Sources

to Generate a Digital Elevation Model for Highway


Preliminary Geometric Design
Sikai Chen 1; Zongxin Tang 2; Hao Zhou 3; and Jianchuan Cheng, Ph.D. 4
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Abstract: Two principal aspects of preliminary highway design are detailed characterization of the geographic and topographic features
along potential candidate alignments and preliminary design of the highway along at least one of these candidates. The digital elevation model
(DEM) of the existing terrain is essential for these tasks. However, generating a DEM requires excessive time and effort. This research paper
proposes a quick and practical technique to extract geographic and topographic data from freely available online resources to generate a DEM
for purposes of preliminary highway geometric design. A primary step in construction of the DEM was to quantify relationships between
actual distance on the ground, computer screen resolution and size, and scale of the virtual earth, and then use these relationships to extract the
data automatically. The area displaying position and elevation data were positioned and subsequently saved as images. Image recognition
techniques were then used to interpret the position and elevation data. Data storage management was subsequently conducted to minimize the
error generated due to decimal place omission. In doing so, the accuracy of the extracted geographic data were enhanced to meet the require-
ments for preliminary geometric design. The DEMs were then constructed using the extracted geographic data. To demonstrate the efficacy of
the developed method and to verify its accuracy, the paper used data from a mountainous region located in the Sichuan Province of China.
The results showed that the proposed method is practical and that the constructed DEM is reliable and reasonable. Further, compared with
traditional methods, the proposed DEM construction method is less time-consuming and laborious, and more functionally consistent with
available online resources. DOI: 10.1061/JTEPBS.0000212. © 2019 American Society of Civil Engineers.

Introduction helps to store, analyze, and visualize such data over large areas
(Moloney et al. 2017; Liao et al. 2018). The advantage of in-house
The successive phases of transportation asset development are plan- design is that the designers tend to be intimately familiar with the
ning, design, construction, operations (including maintenance and natural and anthropogenic features of the terrain and any local con-
monitoring), and end of life (Sinha et al. 2017). As responsible stew- straints, and this knowledge helps to yield designs that are effective
ards of the taxpayer-funded public infrastructure, highway agencies and safe (INDOT 2013).
are accountable to allocate available budgets that achieve maximized In the current era, however, there are more and more cases where
economic returns (Li et al. 2013). This requires highway agencies to infrastructure is planned and designed by entities external to the
carefully evaluate, at each phase, alternatives for designing, con- highway agency; this trend is facilitated by globalization, where
structing, operating, and maintaining the infrastructure, and to select projects are designed, planned, and financed by international firms.
the most cost-effective option. At the planning and design phases, the Therefore, it may be the case that most current geometric design
highway agency considers multiple alternatives in terms of location, practitioners are unaccustomed with certain features of the physical
alignment, material types, and orientations and dimensions of design environment of the proposed infrastructure (e.g., surface natural
elements. Traditionally, planning and design are carried out in-house and man-made features, local ecology). This knowledge is critical
by the highway administrative district where the proposed highway to the effective long-term performance of transportation assets
is to be located or by consultants hired by the highway department. (Simpson and Harris 2017). A design that fails to adequately ac-
Transportation infrastructure planning and design are mostly carried
commodate these features generally impairs the long-term resil-
out using geographic information systems (GIS), the traditional plat-
ience of the infrastructure and its sustainable development (Sinha
form for two-dimensional (2D) mapping of spatial data that also
and Labi 2007).
1 AASHTO (2011) recommends that horizontal and vertical
Ph.D. Candidate, Lyles School of Civil Engineering, Purdue Univ.,
550 Stadium Mall Dr., West Lafayette, IN 47906. Email: chen1670@
alignments be coordinated during the preliminary design stage. At
purdue.edu this stage, a critical step is to identify geological and geographic
2
Ph.D. Candidate, School of Transportation, Southeast Univ., features of the terrain along the alignment in question, and to quan-
2 Sipailou, Nanjing 210096, China. Email: zxtang@seu.edu.cn tify the performance (benefits and costs) of alternative alignments
3
Graduate, School of Transportation, Southeast Univ., 2 Sipailou, because such performance is strongly related to the existing surface
Nanjing 210096, China. Email: yhzhou@seu.edu.cn features. The conventional practice is to carry out preliminary geo-
4
Professor, School of Transportation, Southeast Univ., 2 Sipailou, metric design using digital elevation models (DEMs) on a scale
Nanjing 210096, China (corresponding author). Email: jccheng@seu of 1:50,000 (MOT 2007). Thus, this process does not require geo-
.edu.cn
Note. This manuscript was submitted on February 28, 2018; approved
graphic data of very high precision.
on August 8, 2018; published online on January 17, 2019. Discussion per- At each phase of highway development, engineers are mobiliz-
iod open until June 17, 2019; separate discussions must be submitted ing advanced technologies to facilitate their tasks. In the construc-
for individual papers. This paper is part of the Journal of Transportation tion phase, advanced scheduling techniques are being adopted
Engineering, Part A: Systems, © ASCE, ISSN 2473-2907. (Sinha and Labi 2007); in the monitoring phase, robotic sensors

© ASCE 04019003-1 J. Transp. Eng., Part A: Syst.

J. Transp. Eng., Part A: Systems, 2019, 145(4): 04019003


are being deployed to detected and characterize defects (Tsai et al. (Fitzpatrick et al. 2016; Wang et al. 2014; Chen et al. 2017a), lane
2012); in the materials selection stage of the design phase, ad- width (Bassani et al. 2016; Fitzpatrick et al. 2016; Geedipally and
vanced long-lasting materials are being explored. In the design Pratt 2017; Labi et al. 2017), and shoulder width (Bassani et al.
phase, where a persistent challenge has been the digital characteri- 2016; Fitzpatrick et al. 2016; Geedipally and Pratt 2017; Chen
zation of the existing terrain, cost-effective ways to do this are et al. 2019). High-resolution imagery can be used for characterizing
being sought. the features of multiple classes of roadways, including rural roads
Online resources, including the freely available Google Earth (Bassani et al. 2016; Geedipally and Pratt 2017; Shrestha et al.
(GE) tool, have revolutionized the way design practitioners interact 2017) and freeways (Fitzpatrick et al. 2016). Moreover, based
with spatial data (Butler 2006), which can help characterize the on extracted geometric features, high-resolution imagery can be
existing terrain. GE facilitates visualization of any location on the used for traffic operations analysis (Gong and Fan 2017) and policy
Earth’s surface. Since 2005, when it was made available for public making (Pham et al. 2015).
use, GE has evolved into a widely used tool for academic research The geographic and elevational data available in land sur-
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and other purposes. In its latest version (7.1 as of July 16, 2017), face characterization tools originate from the DEM constructed by
GE lacks the functionality—the application programming interfa- NASA’s Shuttle Radar Topography Mission (SRTM 2016). Since
ces (APIs)—that facilitate interaction between geographic data and 2003, worldwide topographical data with 90-m (295-ft) accuracy
user (Google Developers 2014). This greatly impairs the applica- have been available to the public. Topographical data in the United
tion of GE in the acquisition of data vital for DEM development. States have been as precise as 30 m (98 ft) since NASA updated its
To address this issue, this paper proposes a no-cost and practical global data to that level of accuracy in 2014 (NASA 2017). Since
method to extract geographic data from such an online resource then, the data have been made available to the public, and there has
to generate DEMs for preliminary geometric design. The paper’s been a significant amount of research and practice (applications)
method also facilitates the extraction of surface features, making worldwide to validate and verify the accuracy of data available
the generated DEM comparable with the digital surface model in land surface characterization databases and tools including GE.
(DSM), thus fostering efficient and effective design of the highway Benker et al. (2011) found that topographical data in GE for the Big
alignment. Bend region in Texas have an accuracy of 2.64 m RMS error
(RMSE) horizontal and 1.63 m RMSE vertical. The RMSE of data
for Riyadh, Saudi Arabia, is 2.18 m for horizontal and 1.51 m for
Literature Review height, respectively (Farah 2014). Positional accuracy of horizontal
data is assessed to be approximately 0.1–2.7 m separately to the
Data on three-dimensional (3D) characterization of terrain is criti- north and south of Montreal, Canada (Goudarzi and Landry
cal for effective geometric design (Makanae and Dawood 2009) 2017). The authors also provided two methods to correct observed
and optimization (Jha and Schonfeld 2004) of highway alignments. positional errors and specifically to reduce or even eliminate them.
Traditionally, highway designers have obtained this data through However, control points are required for both error reduction
field surveying using geomatic instruments such as electronic to- methods.
tal stations. However, these data acquisition methods are time- Summing up, for the past few years, GE has become more
consuming and costly in terms of resource use (Jha and Schonfeld broadly applied in transportation engineering for its superior reli-
2004; Findley et al. 2013). To overcome these limitations, several ability and practicality. Digital land surface characterization tools
alternative methods have been developed over the last decades to are useful for an array of practical applications in transportation.
facilitate characterization of terrain surfaces, including global po- For example, it has been determined that the topographical data in
sitioning systems, remote sensing systems, and laser imaging (Wolf GE have an accuracy of around 30 m worldwide (Google Developers
2002) among others. Of these emerging techniques, GE shows 2017). However, the literature shows that actual accuracy (aerial/
remarkable advantages. satellite imagery and topography) is much more precise—as high
Land surface characterization tools such as GE have continued as about 5 m depending on region and terrain (Benker et al. 2011;
to improve the way users interact with the digital world (Butler Wang et al. 2017), which is sufficient for preliminary geometric de-
2006). Using such tools, designers can carry out, quickly and in- sign of highways (MOT 2007). The topographical data available in
teractively, versatile design functions in a manner that was once land surface characterization tools such as GE can be extracted at no
thought to be impossible. These functions include the estimation cost to the user. Therefore, the extraction of GE data for generating
of building heights (Qi et al. 2016) and highway bridge vertical DEMs for highway preliminary geometric design can be considered
clearance, agricultural land uses (Taylor and Lovell 2012), and for highway design applications.
identification of spatial land characteristics after disasters
(Nourbakhsh et al. 2006). In the transportation domain, GE has
been found to be an exceedingly effective and applicable tool for Methodology
highway asset inventory, asset characterization and management
(Darter et al. 2007; Xiong et al. 2015), crash site location and char-
Traditional Data Extraction Technologies and Their
acterization (Haleem and Abdel-Aty 2010; Wang et al. 2018), and
Limitations
future autonomous vehicle operations (Gargoum et al. 2017). These
achievements have been mostly based on high-resolution aerial and As discussed earlier, GE currently does not provide API inter-
satellite images provide by GE. faces to connect users and data. In this respect, the API provided
In addition, GE high-resolution aerial and satellite imagery can by Google Maps can serve as an alternative for users seeking to
be used to evaluate roadway safety performance by measuring build a digital characterization of terrain. However, the Google
existing roadway features, including sight distance (Easa et al. Map API key is limited to extraction of only 2,500 points of geo-
2017; Wang et al. 2017), curvature (Geedipally and Pratt 2017; graphical data daily; with an accuracy of 5 m, 2,500 points corre-
Tang et al. 2018), clearances (Xu et al. 2014), median width sponds to 0.0625 km2 (250 × 250 m). Therefore, for a highway of
(Fitzpatrick et al. 2016; Wang et al. 2014; Chen et al. 2017b), 100 km in length and 30 m in width, a 3-km2 surface area will be
deflection angle (Geedipally and Pratt 2017), number of lanes required for construction. Because the total potential area to locate

© ASCE 04019003-2 J. Transp. Eng., Part A: Syst.

J. Transp. Eng., Part A: Systems, 2019, 145(4): 04019003


possible schemes would be 300 km2 , it would take 4,800 days to pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
δ < ð0.0254C × ζÞ a2 þ b2 ð3Þ
extract geographical data for purposes of characterizing this high-
way’s terrain, which is obviously impractical. Other ways to obtain where δ = length of a single mouse pointer movement; and
such geographical data include the software such as Autodesk Infra- ζ = scale of the current virtual earth.
works, but such resources are very costly ($1,575 for a single permit In this paper, a Python program was written to ensure that the
per year). To overcome the drawbacks and limitations associated mouse pointer can be moved automatically as the point profiles are
with traditional geographical data extraction, this paper proposes extracted. The geographic data were automatically written into an
a new method to extract geographical data from a free and publicly Excel file, and the interval of each increment of mouse pointer
available online resource using image recognition techniques. movement was fixed. Alternatively, an appropriate programming
language can be used to ensure that the keyboard keys permit
Data Extraction by Image Recognition step-by-step movement of the pointer. In this paper, for vertical
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movements, the U key is clicked to move each þ1 step and the


As mentioned earlier, DEMs, at least on a scale of 1:50;000, are J key is clicked for each −1 step; for horizontal movements, the
conventionally used for preliminary geometric design. The absolute K key is clicked to move each þ1 step and the H key is clicked
error (Δ) of these DEMs is less than 5 m (the minimum length that for each −1 step. These keys control screen movement across the
can be identified by the human eye is 0.1 mm). Therefore, the DEM computer screen and not the virtual earth.
generated from the geographic data extracted from GE Pro (whose GE includes a full-screen model in which a virtual earth domi-
absolute error is less than 1 m), is adequate for this purpose. nates the main interface while the title, menu, and status bar take up
The absolute error of the extracted data consists of two parts: relatively little (but substantial) screen space. Therefore, the maxi-
(1) the intrinsic error of data, which cannot be controlled by the mum steps for the pointer’s movement can be determined. Space
user and arises from the manner of data collection (this error is mea- for the taskbar, title, and menu varies, and can be quantified by
sured in a later section of this paper) and (2) manual error, which vertical sizes α1 , α2 , and α3 , respectively, in pixels. Thus, the
can be controlled by the user and is generated mostly during data mouse pointer can move only within the pixel constraints as
extraction from the GE Pro and is associated with the interval of the follows:
data points. Manual error can be quantified based on the scale of the 
virtualized earth and screen size and resolution. Like most other nh < ½a δ
electronic applications, GE’s main interface consists of the title, 
nv ¼ ½ðb − α1 − α2 − α3 Þ δ ð4Þ
menu, tool bar, and side bar. GE has a full-screen model. By point-
ing the mouse to a specific location, the geographic and elevation where nh = maximum pointer movement times in the horizontal
data associated with that location are displayed on the status bar. direction; nv = maximum pointer movement times in the vertical
The mechanism involves a translation of the pointer position on direction; and [] = integer-valued function.
screen to its geographic coordinate and its subsequent display. The parameters α1 , α2 , and α3 can be quantified based on
In Google Earth Version 4.x and earlier, functions to translate rel- system and software characteristics. A practical way to determine
ative coordinates on screen into geographic coordinates are pack- their values is to calculate their relative portions in a screenshot.
aged in the Google COM API, and geographic data extraction is not The pixels for the virtual earth equal a × ðb − ðα1 þ α2 þ α3 ÞÞ.
associated with the position of mouse pointer. However, none of To eliminate errors, pixels can be set up as 0.95a × 0.95ðb − ðα1 þ
these functions are provided in version 7.X for security reasons. α2 þ α3 Þ). Eq. (4) can be rewritten as
At each location targeted by the mouse pointer, the status bar dis-

plays longitude, latitude, elevation, and eye altitude. Therefore, by nh < ½0.95a δ
moving the mouse pointer, it is possible to generate a data matrix 
from which a DEM can be extracted. The movement of the mouse nv < ½0.95ðb − α1 − α2 − α3 Þ δ ð5Þ
pointer is related to screen size and resolution.
Consider a computer screen resolution of a × b and screen The space displaying the virtual earth (S) can be expressed as
size C (conventionally in inches). Consequently, the pixels per inch S ¼ fsj0.025a < H < 0.975a; ð0.025b þ α1 Þ
(PPI) of the screen can be expressed as
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi < V < ð0.975b − α2 − α3 Þg ð6Þ
PPI ¼ a2 þ b2 C ð1Þ
where S = limit of pointer movement; H = horizontal limit of
where a and b = horizontal and vertical resolutions, respectively, in pointer movement; and V = vertical limit of pointer movement.
pixels; and C = size in inches. The relevant section of GE that displays position and elevation
The scale of the current virtual earth is denoted ζ. Thus, information is shown in Fig. 1.
the actual distance between any two neighboring pixels is
ðða2 þ b2 Þ1=2 Þ=ðC × ζÞ), in inches. Most operating systems pro-
Data Storage and Management
vide an interface to automatically control mouse pointer movement
(quantified in pixels). The increment of a single movement is δ After translating the pointer position on the screen into actual geo-
pixel(s). The actual distance covered by a single movement on graphic coordinates, the position and elevation data were extracted
a virtual earth is n × ðða2 þ b2 Þ0.5 Þ=ðC × ζÞ in inches. The abso-
lute error of the extracted geographic data must be within 1 m.
Therefore
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
δ a2 þ b2 ð0.0254C × ζÞ < 1 ð2Þ
Fig. 1. Data elements–related top position and elevation: (a) latitude;
Inequality (2) can be converted into a more explicit formu-
(b) longitude; and (c) elevation.
lation, as

© ASCE 04019003-3 J. Transp. Eng., Part A: Syst.

J. Transp. Eng., Part A: Systems, 2019, 145(4): 04019003


Table 1. Identified positional and elevational data
Point Longitude Latitude Elevation (m)
1 106.899389 31.907592 394.72
2 106.899397 31.907442 395.33
3 106.899403 31.907292 395.94
::: ::: ::: :::
31240 106.943333 31.889994 477.01

Table 2. Accuracy verification for proposed method


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Elevation difference Value (m)


Fig. 2. Calculation of longitudinal and latitudinal difference: (a) posi-
tional information; and (b) longitudinal and latitudinal difference. Average 1.5
Maximum 6.55
Minimum 0.13
Standard deviation 2.56
and saved. The coordinates of positional and elevational data in
GE are formatted as ðX; Y; ZÞ, which can be interpreted by most
computer-aided design platforms. However, for simplifying the 
ΔL ¼ f180 · A0 A1 =ð1000RA · πÞ ≤ 81 ½ð90 − TÞRe þ T · RP  · πg
task of importing data into AutoCAD (discussed in the next sec-
tion) to eliminate or reduce the possibility of errors and increase and
robustness, the data should be transformed into radians. In doing 
ΔT ¼ f180 · A0 A2 =ð1000RA · πÞ ≤ 81 ½ð90 − TÞRe þ T · RP  · πg
so, it is impractical to store infinite decimals for the extracted data
so some decimal places need to be omitted. To minimize the error ð10Þ
generated by omitting decimals within 5 m, it was decided to retain
an adequate number of decimal places, which depends on the po- Consider the location identified in the next section as an exam-
sition of the point. The point can be specified by longitude and ple. The latitudinal position of the area is between 31.88619
latitude, separately for the east-west and north-south position of and 31.908078 N, and ΔL and ΔT corresponding to 5 m equal
a point on the Earth’s surface. Longitude ranges from 0° (the Prime 4.4992 × 10−5 . Thus, the extracted data to be saved must have
Meridian) to þ180° eastward and −180° westward at the Interna- six decimal places. Table 1 provides the extracted position and
tional Date line. Latitude ranges from 0° (at the equator) to 90° elevation information of some sample points.
northward or southward at the poles. One degree of longitude de-
pends on the latitude at which the point is located. The Earth is a Validation of the Proposed Method
proximate sphere with an equatorial radius (Re ) of 6,378.137 km
and a polar radius (RP ) of 6,356.752 km, as shown in Fig. 2(a). The Prior to generating the DEM, there needs to be verification of the
difference between Re and RP is 21.385 km and 0.34% of Re . Thus, accuracy of the 3D data extracted using the proposed method.
the earth can be approximately treated as an ideal sphere and linear One thousand points are selected randomly from the data set of ex-
interpolation used to calculate the distance between Point A on the tracted data. Based on the positional data (i.e., longitude and latitude
surface and at the geocenter. information of each point) control elevation data were established
The distance, RA [Fig. 2(b)], from Point A on the Earth’s surface using field surveys, and the elevation difference between the control
to the geocenter can be calculated using linear interpolation point and the extracted point was calculated, as shown in Table 2.
[Eq. (7)]. From Eq. (7), it is seen that RA varies only with latitude The extracted points are located in a mountainous area. From
Table 2, it can be seen that the elevation difference between control
and extracted data is 1.5 m. However, in highway preliminary
RA ¼ ðð90 − TÞRe þ T × RÞ=90 ð7Þ
design, the main objective is to locate all potential schemes. With
the help of satellite images, potential schemes can be reasonably
There exists a point A1 ðL þ ΔL; TÞ on the same latitude as located when the elevation data are not as accurate.
point A0 . The longitudinal difference between A0 and A1 is ΔL.
Therefore, the length of A0 A1 (m) can be calculated as DEM Generation
 In this paper, AutoCAD, a common computer-aided design software,
A0 A1 ¼ ð1,000RA × ΔL × πÞ 180 ð8Þ
was used as the platform for generating the DEM. AutoCAD is
command-based and therefore uses a normative set of commands
Similarly, for point A2 with a latitudinal difference of ΔT from to accomplish the extraction task. Lisp, a robust programming lan-
Point A0 , length A0 A2 (m) can be calculated as guage, was used to generate commands to import bulk data into
AutoCAD. For convenience, the geographic data were stored in pure
 data format; no commands were written synchronously. Pretreatment
A0 A2 ¼ ð1,000RA × ΔT × πÞ 180 ð9Þ
was carried out to import the extracted data into AutoCAD. Consider
Point 1 (Table 1) as an example: the original data format was trans-
Because ΔL and ΔT approach infinity, the arcs A0 A1 and A0 A2 formed into Lisp as (command “point” “106.899389, 31.907592,
can be treated as a line and denoted jA0 A1 j and jA0 A2 j, respectively. 394.72”). After pretreatment, the file was transformed into a text file
The lengths of jA0 A1 j and jA0 A2 j should be less than 5 m to meet as a prototype of commands in accordance with Lisp standards. After
the minimum accuracy requirement of preliminary design (MOT that, the geographic data were imported into AutoCAD and the DEM
2007). Thus, ΔL and ΔT should satisfy the following conditions: was subsequently generated.

© ASCE 04019003-4 J. Transp. Eng., Part A: Syst.

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Fig. 3. Topographical map for the case study.

topographical map to serve as a control to validate the results of


the proposed approach.
Fig. 5 shows the generated contour map. The area labeled d is
not shown in Fig. 3. Clearly, if traditional surveying were used, a
very significant effort would be needed to acquire the topographical
data of this area. The contour map generated by the proposed ap-
proach (data packaged in GE with a satellite image as an underlay)
includes information related to topography, water systems, build-
ings, and terrain surface. For all practical purposes, this is equiv-
alent to the topographical map generated by traditional surveying
methods. Comparing the satellite image in Fig. 5 and the geo-
graphic and geomorphic features in Fig. 3, it can be seen that
the satellite image provides a more updated characterization of
the area’s features. The areas labeled a, b, and c, respectively,
in Figs. 3–5 are the same area in reality. In Fig. 3 the area is covered
Fig. 4. Contour map for the case study. by water, whereas in Fig. 5, which is an update, land reclamation
has taken place. As such, Fig. 5 represents a characterization that is
more reliable and reasonable for preliminary highway geometric
design.
Case Study, Results, and Discussion Using the proposed method, 31,240 points were extracted, rec-
ognized, and saved. This process took 12 h, 10 min, and 1 s with a
In this paper, an area in Bashu City, Sichuan Province, China, was hardware configuration consisting of an Intel core i7 2720m proc-
used to illustrate the proposed approach. A reliable topographi- essor and 4 GB of RAM. In other words, it took 1.40 s to extract,
cal map for this area (Fig. 3) was developed using traditional field recognize, and save one point, excluding the cost of labor and other
surveying, and a contour map (Fig. 4) was derived from the resources.

Fig. 5. Contour map generated by GE data with satellite image as an underlay.

© ASCE 04019003-5 J. Transp. Eng., Part A: Syst.

J. Transp. Eng., Part A: Systems, 2019, 145(4): 04019003


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GE meet this accuracy requirement but do not exceed it. Therefore, Rec. 2643: 1–8. https://doi.org/10/3141/2643-01.
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a method was proposed to extract more accurate geographic data
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from GE to generate a DEM for preliminary geometric design. The A: Syst. 143 (7): 04017021. https://doi.org/10.1061/JTEPBS.0000049.
proposed method is less time-consuming and less laborious than Gong, L., and W. Fan. 2017. “Applying travel-time reliability measures in
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Current land surface characterization tools lack not only inter- level.” J. Transp. Eng. Part A: Syst. 143 (8): 04017042. https://doi
faces to directly extract geographic data but also features to trans- .org/10.1061/JTEPBS.0000072.
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