POG construction. Symbols inside the circles are the aligned node IDs. The table associated with each node encodes the set of points aligned to it. In particular, each row represents a point with its trajectory ID (
T column) and its index along the trajectory (
S column). For example, the entry (1, 2) associated with node
b in (a) means that the aligned node
b currently include the point

, the second point from trajectory-1. In (a), a POG is initialized by the trajectory
T1. An example of a POG after aligning a few trajectories is shown in (b). Note that a new node/branch is created when a point cannot be aligned to any existing nodes. For example, node
e was created when

(i.e, the 3rd point of
T2) was inserted. (c) shows the POG after merging point

from the node
b to the node
e constrained by the distance threshold
ε.