MAMOULIS Series ISSN: 2153-5418 MAMOULIS MAMOULIS M Morgan & Claypool Publishers SYNTHESIS LECTURES ON DATA MANAGEMENT &C Series Editor: M.M. TamerTamer Özsu,Özsu, University of Waterloo Spatial Data Management Spatial Nikos Mamoulis, Hong Kong University Spatial database management deals with the storage, indexing, and querying of data with spatial features, such Data Management as location and geometric extent. Many applications require the efficient management of spatial data, including SPATIAL DATA SPATIAL MANAGEMENT SPATIAL DATA SPATIAL MANAGEMENT DATA SPATIAL MANAGEMENT Geographic Information Systems, Computer Aided Design, and Location Based Services. The goal of this book is to provide the reader with an overview of spatial data management technology, with an emphasis on indexingindexing andand searchsearch techniques.techniques. ItIt firstfirst introducesintroduces spatialspatial datadata modelsmodels andand queriesqueries andand discussesdiscusses thethe mainmain issuesissues ofof extendingextending aa databasedatabase systemsystem toto supportsupport spatialspatial data.data. ItIt presentspresents indexingindexing approachesapproaches forfor spatialspatial data,data, with a focus on the R–tree. Query evaluation and optimization techniques for the most popular spatial query typestypes (selections,(selections, nearestnearest neighborneighbor search,search, andand spatialspatial joins)joins) areare portrayedportrayed forfor datadata inin EuclideanEuclidean spacesspaces andand spatial networks. The book concludes by demonstrating the ample application of spatial data management technologytechnology onon aa widewide rangerange ofof relatedrelated applicationapplication domains:domains: managementmanagement ofof spatio-temporalspatio-temporal datadata andand high-high- dimensional feature vectors, multi-criteria ranking, data mining and OLAP, privacy-preserving data publishing, Nikos Mamoulis and spatial keyword search. About SYNTHESIs MORGAN This volume is a printed version of a work that appears in the Synthesis MORGANMORGAN Digital Library of Engineering and Computer Science. Synthesis Lectures provide concise, original presentations of important research and development topics,topics, publishedpublished quickly,quickly, inin digitaldigital andand printprint formats.formats. ForFor moremore informationinformation & visit www.morganclaypool.com & & CLAYPOOl CLAYPOOlCLAYPOOl ISBN: 978-1-60845-832-5 Morgan & Claypool Publishers 90000 SYNTHESIS LECTURES ON DATA MANAGEMENT www.morganclaypool.com 9 781608 458325 M. Tamer Özsu, Series Editor Spatial Data Management Synthesis Lectures on Data Management Editor M.Tamer Özsu, University of Waterloo The series will publish 50- to 125 page publications on topics pertaining to data management. The scope will largely follow the purview of premier information and computer science conferences, such as ACM SIGMOD, VLDB, ICDE, PODS, ICDT, and ACM KDD. Spatial Data Management Nikos Mamoulis Database Repairing and Consistent Query Answering Leopoldo Bertossi Managing Event Information: Modeling, Retrieval, and Applications Amarnath Gupta and Ramesh Jain Fundamentals of Physical Design and Query Compilation David Toman and Grant Weddell Methods for Mining and Summarizing Text Conversations Giuseppe Carenini, Gabriel Murray, and Raymond Ng Probabilistic Databases Dan Suciu, Dan Olteanu, Christopher Ré, and Christoph Koch Peer-to-Peer Data Management Karl Aberer Probabilistic Ranking Techniques in Relational Databases Ihab F. Ilyas and Mohamed A. Soliman Uncertain Schema Matching Avigdor Gal Fundamentals of Object Databases: Object-Oriented and Object-Relational Design Suzanne W. Dietrich and Susan D. Urban iii Advanced Metasearch Engine Technology Weiyi Meng and Clement T. Yu Web Page Recommendation Models: Theory and Algorithms Sule Gündüz-Ögüdücü Multidimensional Databases and Data Warehousing Christian S. Jensen, Torben Bach Pedersen, and Christian Thomsen Database Replication Bettina Kemme, Ricardo Jimenez Peris, and Marta Patino-Martinez Relational and XML Data Exchange Marcelo Arenas, Pablo Barcelo, Leonid Libkin, and Filip Murlak User-Centered Data Management Tiziana Catarci, Alan Dix, Stephen Kimani, and Giuseppe Santucci Data Stream Management Lukasz Golab and M. Tamer Özsu Access Control in Data Management Systems Elena Ferrari An Introduction to Duplicate Detection Felix Naumann and Melanie Herschel Privacy-Preserving Data Publishing: An Overview Raymond Chi-Wing Wong and Ada Wai-Chee Fu Keyword Search in Databases Jeffrey Xu Yu, Lu Qin, and Lijun Chang Copyright © 2012 by Morgan & Claypool All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means—electronic, mechanical, photocopy, recording, or any other except for brief quotations in printed reviews, without the prior permission of the publisher. Spatial Data Management Nikos Mamoulis www.morganclaypool.com ISBN: 9781608458325 paperback ISBN: 9781608458332 ebook DOI 10.2200/S00394ED1V01Y201111DTM021 A Publication in the Morgan & Claypool Publishers series SYNTHESIS LECTURES ON DATA MANAGEMENT Lecture #21 Series Editor: M. Tamer Özsu, University of Waterloo Series ISSN Synthesis Lectures on Data Management Print 2153-5418 Electronic 2153-5426 Spatial Data Management Nikos Mamoulis University of Hong Kong SYNTHESIS LECTURES ON DATA MANAGEMENT #21 M &C Morgan& cLaypool publishers ABSTRACT Spatial database management deals with the storage, indexing, and querying of data with spatial features, such as location and geometric extent. Many applications require the efficient management of spatial data, including Geographic Information Systems, Computer Aided Design, and Location Based Services. The goal of this book is to provide the reader with an overview of spatial data management technology, with an emphasis on indexing and search techniques. It first introduces spatial data models and queries and discusses the main issues of extending a database system to support spatial data. It presents indexing approaches for spatial data, with a focus on the R–tree. Query evaluation and optimization techniques for the most popular spatial query types (selections, nearest neighbor search, and spatial joins) are portrayed for data in Euclidean spaces and spatial networks. The book concludes by demonstrating the ample application of spatial data management technology on a wide range of related application domains: management of spatio-temporal data and high-dimensional feature vectors,multi-criteria ranking,data mining and OLAP,privacy-preserving data publishing, and spatial keyword search. KEYWORDS spatial data management,geographical information systems,indexing,query evaluation, query optimization, spatial networks To Elena, Vasili, and Dimitri for their love and support To Dimitri and Thalia for bringing me up well ix Contents Preface .................................................................xiii Acknowledgments ........................................................xv 1 Introduction ..............................................................1 1.1 Spatial Data Types, Predicates, and Queries ................................ 2 1.2 Extending a DBMS to an SDBMS........................................ 5 1.3 Historical Evolution of Research and Systems Development .................. 7 1.4 Summary and Outline ................................................... 8 2 Spatial Data ............................................................ 11 2.1 Spatial Relationships ................................................... 12 2.1.1 Topological relationships ......................................... 12 2.1.2 Directional relationships .......................................... 13 2.1.3 Distance relationships ............................................ 13 2.2 Spatial Queries ........................................................ 14 2.3 Issues in Spatial Query Processing ....................................... 15 2.3.1 Extent or not? ................................................... 17 2.4 Summary ............................................................. 18 3 Indexing ................................................................ 21 3.1 Point Access Methods .................................................. 21 3.1.1 The grid file .................................................... 21 3.1.2 Space filling curves .............................................. 22 3.1.3 The quadtree .................................................... 23 3.2 Indexing Objects with Extent ........................................... 24 3.3 The R–tree ........................................................... 25 3.3.1 Optimization of the R–tree structure ............................... 26 3.3.2 The R*–tree: an optimized version of the R–tree ..................... 28 3.3.3 Bulk-loading R–trees ............................................ 30 3.4 Summary ............................................................. 31 x 4 Spatial Query Evaluation ................................................ 35 4.1 Spatial Selections ...................................................... 35 4.2 Nearest Neighbor Queries .............................................. 36 4.2.1 A depth-first nearest neighbor search algorithm ...................... 38 4.2.2 A best-first nearest neighbor search algorithm ....................... 39 4.2.3 k-nearest neighbor search and incremental search .................... 41 4.3 Spatial joins ........................................................... 42 4.3.1 Index-based