Yu Zheng

Ming Jin, Qingsong Wen, Yuxuan Liang et al.

Temporal data, notably time series and spatio-temporal data, are prevalent in real-world applications. They capture dynamic system measurements and are produced in vast quantities by both physical and virtual sensors. Analyzing these data types is vital to harnessing the rich information they encompass and thus benefits a wide range of downstream tasks. Recent advances in large language and other foundational models have spurred increased use of these models in time series and spatio-temporal data mining. Such methodologies not only enable enhanced pattern recognition and reasoning across diverse domains but also lay the groundwork for artificial general intelligence capable of comprehending and processing common temporal data. In this survey, we offer a comprehensive and up-to-date review of large models tailored (or adapted) for time series and spatio-temporal data, spanning four key facets: data types, model categories, model scopes, and application areas/tasks. Our objective is to equip practitioners with the knowledge to develop applications and further research in this underexplored domain. We primarily categorize the existing literature into two major clusters: large models for time series analysis (LM4TS) and spatio-temporal data mining (LM4STD). On this basis, we further classify research based on model scopes (i.e., general vs. domain-specific) and application areas/tasks. We also provide a comprehensive collection of pertinent resources, including datasets, model assets, and useful tools, categorized by mainstream applications. This survey coalesces the latest strides in large model-centric research on time series and spatio-temporal data, underscoring the solid foundations, current advances, practical applications, abundant resources, and future research opportunities.

Songyu Ke, Ting Li, Li Song et al.

Accurate acquisition of crowd flow at Points of Interest (POIs) is pivotal for effective traffic management, public service, and urban planning. Despite this importance, due to the limitations of urban sensing techniques, the data quality from most sources is inadequate for monitoring crowd flow at each POI. This renders the inference of accurate crowd flow from low-quality data a critical and challenging task. The complexity is heightened by three key factors: 1) The scarcity and rarity of labeled data, 2) The intricate spatio-temporal dependencies among POIs, and 3) The myriad correlations between precise crowd flow and GPS reports. To address these challenges, we recast the crowd flow inference problem as a self-supervised attributed graph representation learning task and introduce a novel Contrastive Self-learning framework for Spatio-Temporal data (CSST). Our approach initiates with the construction of a spatial adjacency graph founded on the POIs and their respective distances. We then employ a contrastive learning technique to exploit large volumes of unlabeled spatio-temporal data. We adopt a swapped prediction approach to anticipate the representation of the target subgraph from similar instances. Following the pre-training phase, the model is fine-tuned with accurate crowd flow data. Our experiments, conducted on two real-world datasets, demonstrate that the CSST pre-trained on extensive noisy data consistently outperforms models trained from scratch.

Wei Chen, Yuxuan Liang, Yuanshao Zhu et al.

Trajectory computing is a pivotal domain encompassing trajectory data management and mining, garnering widespread attention due to its crucial role in various practical applications such as location services, urban traffic, and public safety. Traditional methods, focusing on simplistic spatio-temporal features, face challenges of complex calculations, limited scalability, and inadequate adaptability to real-world complexities. In this paper, we present a comprehensive review of the development and recent advances in deep learning for trajectory computing (DL4Traj). We first define trajectory data and provide a brief overview of widely-used deep learning models. Systematically, we explore deep learning applications in trajectory management (pre-processing, storage, analysis, and visualization) and mining (trajectory-related forecasting, trajectory-related recommendation, trajectory classification, travel time estimation, anomaly detection, and mobility generation). Notably, we encapsulate recent advancements in Large Language Models (LLMs) that hold the potential to augment trajectory computing. Additionally, we summarize application scenarios, public datasets, and toolkits. Finally, we outline current challenges in DL4Traj research and propose future directions. Relevant papers and open-source resources have been collated and are continuously updated at: \href{https://github.com/yoshall/Awesome-Trajectory-Computing}{DL4Traj Repo}.

Yu Zheng, Longyi Liu, Yuming Lin et al.

The advent of Large Language Models (LLMs) holds promise for revolutionizing various fields traditionally dominated by human expertise. Urban planning, a professional discipline that fundamentally shapes our daily surroundings, is one such field heavily relying on multifaceted domain knowledge and experience of human experts. The extent to which LLMs can assist human practitioners in urban planning remains largely unexplored. In this paper, we introduce a comprehensive benchmark, UrbanPlanBench, tailored to evaluate the efficacy of LLMs in urban planning, which encompasses fundamental principles, professional knowledge, and management and regulations, aligning closely with the qualifications expected of human planners. Through extensive evaluation, we reveal a significant imbalance in the acquisition of planning knowledge among LLMs, with even the most proficient models falling short of meeting professional standards. For instance, we observe that 70% of LLMs achieve subpar performance in understanding planning regulations compared to other aspects. Besides the benchmark, we present the largest-ever supervised fine-tuning (SFT) dataset, UrbanPlanText, comprising over 30,000 instruction pairs sourced from urban planning exams and textbooks. Our findings demonstrate that fine-tuned models exhibit enhanced performance in memorization tests and comprehension of urban planning knowledge, while there exists significant room for improvement, particularly in tasks requiring domain-specific terminology and reasoning. By making our benchmark, dataset, and associated evaluation and fine-tuning toolsets publicly available at https://github.com/tsinghua-fib-lab/PlanBench, we aim to catalyze the integration of LLMs into practical urban planning, fostering a symbiotic collaboration between human expertise and machine intelligence.

Xiyue Zhang, Chao Huang, Yong Xu et al.

Accurate forecasting of citywide traffic flow has been playing critical role in a variety of spatial-temporal mining applications, such as intelligent traffic control and public risk assessment. While previous work has made significant efforts to learn traffic temporal dynamics and spatial dependencies, two key limitations exist in current models. First, only the neighboring spatial correlations among adjacent regions are considered in most existing methods, and the global inter-region dependency is ignored. Additionally, these methods fail to encode the complex traffic transition regularities exhibited with time-dependent and multi-resolution in nature. To tackle these challenges, we develop a new traffic prediction framework-Spatial-Temporal Graph Diffusion Network (ST-GDN). In particular, ST-GDN is a hierarchically structured graph neural architecture which learns not only the local region-wise geographical dependencies, but also the spatial semantics from a global perspective. Furthermore, a multi-scale attention network is developed to empower ST-GDN with the capability of capturing multi-level temporal dynamics. Experiments on several real-life traffic datasets demonstrate that ST-GDN outperforms different types of state-of-the-art baselines. Source codes of implementations are available at https://github.com/jill001/ST-GDN.

Junjun Pan, Yu Zheng, Yue Tan et al.

Graph anomaly detection (GAD) has attracted increasing attention in recent years for identifying malicious samples in a wide range of graph-based applications, such as social media and e-commerce. However, most GAD methods assume identical training and testing distributions and are tailored to specific tasks, resulting in limited adaptability to real-world scenarios such as shifting data distributions and scarce training samples in new applications. To address the limitations, recent work has focused on improving the generalization capability of GAD models through transfer learning that leverages knowledge from related domains to enhance detection performance, or developing "one-for-all" GAD foundation models that generalize across multiple applications. Since a systematic understanding of generalization in GAD is still lacking, in this paper, we provide a comprehensive review of generalization in GAD. We first trace the evolution of generalization in GAD and formalize the problem settings, which further leads to our systematic taxonomy. Rooted in this fine-grained taxonomy, an up-to-date and comprehensive review is conducted for the existing generalized GAD methods. Finally, we identify current open challenges and suggest future directions to inspire future research in this emerging field.

Tianfu He, Jie Bao, Yexin Li et al.

Illegal vehicle parking is a common urban problem faced by major cities in the world, as it incurs traffic jams, which lead to air pollution and traffic accidents. The government highly relies on active human efforts to detect illegal parking events. However, such an approach is extremely ineffective to cover a large city since the police have to patrol over the entire city roads. The massive and high-quality sharing bike trajectories from Mobike offer us a unique opportunity to design a ubiquitous illegal parking detection approach, as most of the illegal parking events happen at curbsides and have significant impact on the bike users. The detection result can guide the patrol schedule, i.e. send the patrol policemen to the region with higher illegal parking risks, and further improve the patrol efficiency. Inspired by this idea, three main components are employed in the proposed framework: 1)~{\em trajectory pre-processing}, which filters outlier GPS points, performs map-matching, and builds trajectory indexes; 2)~{\em illegal parking detection}, which models the normal trajectories, extracts features from the evaluation trajectories, and utilizes a distribution test-based method to discover the illegal parking events; and 3)~{\em patrol scheduling}, which leverages the detection result as reference context, and models the scheduling task as a multi-agent reinforcement learning problem to guide the patrol police. Finally, extensive experiments are presented to validate the effectiveness of illegal parking detection, as well as the improvement of patrol efficiency.

Di Weng, Chengbo Zheng, Zikun Deng et al.

Bus routes are typically updated every 3-5 years to meet constantly changing travel demands. However, identifying deficient bus routes and finding their optimal replacements remain challenging due to the difficulties in analyzing a complex bus network and the large solution space comprising alternative routes. Most of the automated approaches cannot produce satisfactory results in real-world settings without laborious inspection and evaluation of the candidates. The limitations observed in these approaches motivate us to collaborate with domain experts and propose a visual analytics solution for the performance analysis and incremental planning of bus routes based on an existing bus network. Developing such a solution involves three major challenges, namely, a) the in-depth analysis of complex bus route networks, b) the interactive generation of improved route candidates, and c) the effective evaluation of alternative bus routes. For challenge a, we employ an overview-to-detail approach by dividing the analysis of a complex bus network into three levels to facilitate the efficient identification of deficient routes. For challenge b, we improve a route generation model and interpret the performance of the generation with tailored visualizations. For challenge c, we incorporate a conflict resolution strategy in the progressive decision-making process to assist users in evaluating the alternative routes and finding the most optimal one. The proposed system is evaluated with two usage scenarios based on real-world data and received positive feedback from the experts.

Mingyang Zhang, Tong Li, Yue Yu et al.

Urban anomalies may result in loss of life or property if not handled properly. Automatically alerting anomalies in their early stage or even predicting anomalies before happening are of great value for populations. Recently, data-driven urban anomaly analysis frameworks have been forming, which utilize urban big data and machine learning algorithms to detect and predict urban anomalies automatically. In this survey, we make a comprehensive review of the state-of-the-art research on urban anomaly analytics. We first give an overview of four main types of urban anomalies, traffic anomaly, unexpected crowds, environment anomaly, and individual anomaly. Next, we summarize various types of urban datasets obtained from diverse devices, i.e., trajectory, trip records, CDRs, urban sensors, event records, environment data, social media and surveillance cameras. Subsequently, a comprehensive survey of issues on detecting and predicting techniques for urban anomalies is presented. Finally, research challenges and open problems as discussed.

Qiuyu Chen, Wei Zhang, Ning Zhou et al.

To leverage deep learning for image aesthetics assessment, one critical but unsolved issue is how to seamlessly incorporate the information of image aspect ratios to learn more robust models. In this paper, an adaptive fractional dilated convolution (AFDC), which is aspect-ratio-embedded, composition-preserving and parameter-free, is developed to tackle this issue natively in convolutional kernel level. Specifically, the fractional dilated kernel is adaptively constructed according to the image aspect ratios, where the interpolation of nearest two integers dilated kernels is used to cope with the misalignment of fractional sampling. Moreover, we provide a concise formulation for mini-batch training and utilize a grouping strategy to reduce computational overhead. As a result, it can be easily implemented by common deep learning libraries and plugged into popular CNN architectures in a computation-efficient manner. Our experimental results demonstrate that our proposed method achieves state-of-the-art performance on image aesthetics assessment over the AVA dataset.

Yuxuan Liang, Kun Ouyang, Yiwei Wang et al.

Citywide crowd flow analytics is of great importance to smart city efforts. It aims to model the crowd flow (e.g., inflow and outflow) of each region in a city based on historical observations. Nowadays, Convolutional Neural Networks (CNNs) have been widely adopted in raster-based crowd flow analytics by virtue of their capability in capturing spatial dependencies. After revisiting CNN-based methods for different analytics tasks, we expose two common critical drawbacks in the existing uses: 1) inefficiency in learning global spatial dependencies, and 2) overlooking latent region functions. To tackle these challenges, in this paper we present a novel framework entitled DeepLGR that can be easily generalized to address various citywide crowd flow analytics problems. This framework consists of three parts: 1) a local feature extraction module to learn representations for each region; 2) a global context module to extract global contextual priors and upsample them to generate the global features; and 3) a region-specific predictor based on tensor decomposition to provide customized predictions for each region, which is very parameter-efficient compared to previous methods. Extensive experiments on two typical crowd flow analytics tasks demonstrate the effectiveness, stability, and generality of our framework.

Yang Liu, Mingxin Chen, Wenxi Zhang et al.

It is commonly observed that the data are scattered everywhere and difficult to be centralized. The data privacy and security also become a sensitive topic. The laws and regulations such as the European Union's General Data Protection Regulation (GDPR) are designed to protect the public's data privacy. However, machine learning requires a large amount of data for better performance, and the current circumstances put deploying real-life AI applications in an extremely difficult situation. To tackle these challenges, in this paper we propose a novel privacy-preserving federated machine learning model, named Federated Extra-Trees, which applies local differential privacy in the federated trees model. A secure multi-institutional machine learning system was developed to provide superior performance by processing the modeling jointly on different clients without exchanging any raw data. We have validated the accuracy of our work by conducting extensive experiments on public datasets and the efficiency and robustness were also verified by simulating the real-world scenarios. Overall, we presented an extensible, scalable and practical solution to handle the data island problem.

Kun Ouyang, Yuxuan Liang, Ye Liu et al.

The ubiquitous deployment of monitoring devices in urban flow monitoring systems induces a significant cost for maintenance and operation. A technique is required to reduce the number of deployed devices, while preventing the degeneration of data accuracy and granularity. In this paper, we present an approach for inferring the real-time and fine-grained crowd flows throughout a city based on coarse-grained observations. This task exhibits two challenges: the spatial correlations between coarse- and fine-grained urban flows, and the complexities of external impacts. To tackle these issues, we develop a model entitled UrbanFM which consists of two major parts: 1) an inference network to generate fine-grained flow distributions from coarse-grained inputs that uses a feature extraction module and a novel distributional upsampling module; 2) a general fusion subnet to further boost the performance by considering the influence of different external factors. This structure provides outstanding effectiveness and efficiency for small scale upsampling. However, the single-pass upsampling used by UrbanFM is insufficient at higher upscaling rates. Therefore, we further present UrbanPy, a cascading model for progressive inference of fine-grained urban flows by decomposing the original tasks into multiple subtasks. Compared to UrbanFM, such an enhanced structure demonstrates favorable performance for larger-scale inference tasks.

Shen Yan, Biyi Fang, Faen Zhang et al.

The use of automatic methods, often referred to as Neural Architecture Search (NAS), in designing neural network architectures has recently drawn considerable attention. In this work, we present an efficient NAS approach, named HM- NAS, that generalizes existing weight sharing based NAS approaches. Existing weight sharing based NAS approaches still adopt hand-designed heuristics to generate architecture candidates. As a consequence, the space of architecture candidates is constrained in a subset of all possible architectures, making the architecture search results sub-optimal. HM-NAS addresses this limitation via two innovations. First, HM-NAS incorporates a multi-level architecture encoding scheme to enable searching for more flexible network architectures. Second, it discards the hand-designed heuristics and incorporates a hierarchical masking scheme that automatically learns and determines the optimal architecture. Compared to state-of-the-art weight sharing based approaches, HM-NAS is able to achieve better architecture search performance and competitive model evaluation accuracy. Without the constraint imposed by the hand-designed heuristics, our searched networks contain more flexible and meaningful architectures that existing weight sharing based NAS approaches are not able to discover.

Guojun Wu, Yanhua Li, Zhenming Liu et al.

Many real-world human behaviors can be characterized as a sequential decision making processes, such as urban travelers choices of transport modes and routes (Wu et al. 2017). Differing from choices controlled by machines, which in general follows perfect rationality to adopt the policy with the highest reward, studies have revealed that human agents make sub-optimal decisions under bounded rationality (Tao, Rohde, and Corcoran 2014). Such behaviors can be modeled using maximum causal entropy (MCE) principle (Ziebart 2010). In this paper, we define and investigate a general reward trans-formation problem (namely, reward advancement): Recovering the range of additional reward functions that transform the agent's policy from original policy to a predefined target policy under MCE principle. We show that given an MDP and a target policy, there are infinite many additional reward functions that can achieve the desired policy transformation. Moreover, we propose an algorithm to further extract the additional rewards with minimum "cost" to implement the policy transformation.

Yang Liu, Yingting Liu, Zhijie Liu et al.

Most real-world data are scattered across different companies or government organizations, and cannot be easily integrated under data privacy and related regulations such as the European Union's General Data Protection Regulation (GDPR) and China' Cyber Security Law. Such data islands situation and data privacy & security are two major challenges for applications of artificial intelligence. In this paper, we tackle these challenges and propose a privacy-preserving machine learning model, called Federated Forest, which is a lossless learning model of the traditional random forest method, i.e., achieving the same level of accuracy as the non-privacy-preserving approach. Based on it, we developed a secure cross-regional machine learning system that allows a learning process to be jointly trained over different regions' clients with the same user samples but different attribute sets, processing the data stored in each of them without exchanging their raw data. A novel prediction algorithm was also proposed which could largely reduce the communication overhead. Experiments on both real-world and UCI data sets demonstrate the performance of the Federated Forest is as accurate as the non-federated version. The efficiency and robustness of our proposed system had been verified. Overall, our model is practical, scalable and extensible for real-life tasks.

Yuxuan Liang, Kun Ouyang, Lin Jing et al.

Urban flow monitoring systems play important roles in smart city efforts around the world. However, the ubiquitous deployment of monitoring devices, such as CCTVs, induces a long-lasting and enormous cost for maintenance and operation. This suggests the need for a technology that can reduce the number of deployed devices, while preventing the degeneration of data accuracy and granularity. In this paper, we aim to infer the real-time and fine-grained crowd flows throughout a city based on coarse-grained observations. This task is challenging due to two reasons: the spatial correlations between coarse- and fine-grained urban flows, and the complexities of external impacts. To tackle these issues, we develop a method entitled UrbanFM based on deep neural networks. Our model consists of two major parts: 1) an inference network to generate fine-grained flow distributions from coarse-grained inputs by using a feature extraction module and a novel distributional upsampling module; 2) a general fusion subnet to further boost the performance by considering the influences of different external factors. Extensive experiments on two real-world datasets, namely TaxiBJ and HappyValley, validate the effectiveness and efficiency of our method compared to seven baselines, demonstrating the state-of-the-art performance of our approach on the fine-grained urban flow inference problem.

Bin Wang, Jie Lu, Zheng Yan et al.

Weather forecasting is usually solved through numerical weather prediction (NWP), which can sometimes lead to unsatisfactory performance due to inappropriate setting of the initial states. In this paper, we design a data-driven method augmented by an effective information fusion mechanism to learn from historical data that incorporates prior knowledge from NWP. We cast the weather forecasting problem as an end-to-end deep learning problem and solve it by proposing a novel negative log-likelihood error (NLE) loss function. A notable advantage of our proposed method is that it simultaneously implements single-value forecasting and uncertainty quantification, which we refer to as deep uncertainty quantification (DUQ). Efficient deep ensemble strategies are also explored to further improve performance. This new approach was evaluated on a public dataset collected from weather stations in Beijing, China. Experimental results demonstrate that the proposed NLE loss significantly improves generalization compared to mean squared error (MSE) loss and mean absolute error (MAE) loss. Compared with NWP, this approach significantly improves accuracy by 47.76%, which is a state-of-the-art result on this benchmark dataset. The preliminary version of the proposed method won 2nd place in an online competition for daily weather forecasting.

Zheyi Pan, Yuxuan Liang, Junbo Zhang et al.

Spatio-temporal (ST) data, which represent multiple time series data corresponding to different spatial locations, are ubiquitous in real-world dynamic systems, such as air quality readings. Forecasting over ST data is of great importance but challenging as it is affected by many complex factors, including spatial characteristics, temporal characteristics and the intrinsic causality between them. In this paper, we propose a general framework (HyperST-Net) based on hypernetworks for deep ST models. More specifically, it consists of three major modules: a spatial module, a temporal module and a deduction module. Among them, the deduction module derives the parameter weights of the temporal module from the spatial characteristics, which are extracted by the spatial module. Then, we design a general form of HyperST layer as well as different forms for several basic layers in neural networks, including the dense layer (HyperST-Dense) and the convolutional layer (HyperST-Conv). Experiments on three types of real-world tasks demonstrate that the predictive models integrated with our framework achieve significant improvements, and outperform the state-of-the-art baselines as well.

Junbo Zhang, Yu Zheng, Dekang Qi et al.

Forecasting the flow of crowds is of great importance to traffic management and public safety, and very challenging as it is affected by many complex factors, including spatial dependencies (nearby and distant), temporal dependencies (closeness, period, trend), and external conditions (e.g., weather and events). We propose a deep-learning-based approach, called ST-ResNet, to collectively forecast two types of crowd flows (i.e. inflow and outflow) in each and every region of a city. We design an end-to-end structure of ST-ResNet based on unique properties of spatio-temporal data. More specifically, we employ the residual neural network framework to model the temporal closeness, period, and trend properties of crowd traffic. For each property, we design a branch of residual convolutional units, each of which models the spatial properties of crowd traffic. ST-ResNet learns to dynamically aggregate the output of the three residual neural networks based on data, assigning different weights to different branches and regions. The aggregation is further combined with external factors, such as weather and day of the week, to predict the final traffic of crowds in each and every region. We have developed a real-time system based on Microsoft Azure Cloud, called UrbanFlow, providing the crowd flow monitoring and forecasting in Guiyang City of China. In addition, we present an extensive experimental evaluation using two types of crowd flows in Beijing and New York City (NYC), where ST-ResNet outperforms nine well-known baselines.

Julie Yixuan Zhu, Chao Zhang, Huichu Zhang et al.

Many countries are suffering from severe air pollution. Understanding how different air pollutants accumulate and propagate is critical to making relevant public policies. In this paper, we use urban big data (air quality data and meteorological data) to identify the \emph{spatiotemporal (ST) causal pathways} for air pollutants. This problem is challenging because: (1) there are numerous noisy and low-pollution periods in the raw air quality data, which may lead to unreliable causality analysis, (2) for large-scale data in the ST space, the computational complexity of constructing a causal structure is very high, and (3) the \emph{ST causal pathways} are complex due to the interactions of multiple pollutants and the influence of environmental factors. Therefore, we present \emph{p-Causality}, a novel pattern-aided causality analysis approach that combines the strengths of \emph{pattern mining} and \emph{Bayesian learning} to efficiently and faithfully identify the \emph{ST causal pathways}. First, \emph{Pattern mining} helps suppress the noise by capturing frequent evolving patterns (FEPs) of each monitoring sensor, and greatly reduce the complexity by selecting the pattern-matched sensors as "causers". Then, \emph{Bayesian learning} carefully encodes the local and ST causal relations with a Gaussian Bayesian network (GBN)-based graphical model, which also integrates environmental influences to minimize biases in the final results. We evaluate our approach with three real-world data sets containing 982 air quality sensors, in three regions of China from 01-Jun-2013 to 19-Dec-2015. Results show that our approach outperforms the traditional causal structure learning methods in time efficiency, inference accuracy and interpretability.

Junbo Zhang, Yu Zheng, Dekang Qi

Forecasting the flow of crowds is of great importance to traffic management and public safety, yet a very challenging task affected by many complex factors, such as inter-region traffic, events and weather. In this paper, we propose a deep-learning-based approach, called ST-ResNet, to collectively forecast the in-flow and out-flow of crowds in each and every region through a city. We design an end-to-end structure of ST-ResNet based on unique properties of spatio-temporal data. More specifically, we employ the framework of the residual neural networks to model the temporal closeness, period, and trend properties of the crowd traffic, respectively. For each property, we design a branch of residual convolutional units, each of which models the spatial properties of the crowd traffic. ST-ResNet learns to dynamically aggregate the output of the three residual neural networks based on data, assigning different weights to different branches and regions. The aggregation is further combined with external factors, such as weather and day of the week, to predict the final traffic of crowds in each and every region. We evaluate ST-ResNet based on two types of crowd flows in Beijing and NYC, finding that its performance exceeds six well-know methods.

Yin Zhu, Yu Zheng, Liuhang Zhang et al.

In this paper, we infer the statuses of a taxi, consisting of occupied, non-occupied and parked, in terms of its GPS trajectory. The status information can enable urban computing for improving a city's transportation systems and land use planning. In our solution, we first identify and extract a set of effective features incorporating the knowledge of a single trajectory, historical trajectories and geographic data like road network. Second, a parking status detection algorithm is devised to find parking places (from a given trajectory), dividing a trajectory into segments (i.e., sub-trajectories). Third, we propose a two-phase inference model to learn the status (occupied or non-occupied) of each point from a taxi segment. This model first uses the identified features to train a local probabilistic classifier and then carries out a Hidden Semi-Markov Model (HSMM) for globally considering long term travel patterns. We evaluated our method with a large-scale real-world trajectory dataset generated by 600 taxis, showing the advantages of our method over baselines.