CURRENT SCOPES OF CARTOGRAPHY: SMALL DISPLAY MAP DESIGN Necla ULUGTEKIN, A.Ozgur DOGRU Istanbul Technical University, Geodesy and Photogrammetry Department, Cartography Division ABSTRACT New technologies have made the maps an important part of everyday life through screen maps published on the internet and mobile or small display devices. The traditional map design, however, is not suitable to be applied in the mobile devices due to the restricted mobile devices capability such as low processing power, limited storage, input capability and display area. This paper aims at designing better maps for effective display on mobile devices by summarizing some design issues. These constraints include both cartographical and technical problems. Cartographically, the map content has to be restructured to make it appropriate to display in small screen. One of the possible ways to deal with the map design is to simplify the maps according to the user’s aim and cognitions in order to reduce the unnecessary map information. This method also helps the cartographer to overcome one of the main problems of the screen map design that is the limited size of the screen of mobile devices. In this study small display map design, which is a current scope of cartography, is handled especially by considering the car navigation systems. In this concept cartographic visualization for mobile mapping is discussed with related subjects as generalization and multiple representations in the second part of the study. Besides all of the components of small display map design (symbolization, colour, text and etc.) are examined in the third part and the study is finalized with discussion and conclusions on the subject. Key words: map design, small display cartography, generalization, MRDB. 1. INTRODUCTION Cartography is the science, art and technology of making, using, and studying maps. Just as the other disciplines, it is affected by the current technological developments. Cartographers produce maps for the users and users benefit from the maps to obtain required information. Nowadays, this relationship became more important because maps are started to be published as not only paper maps but also digital maps. Mobile mapping technologies and methods, which aim to design maps for mobile devices (Pocket PC, mobile phones, in-vehicle computers, and etc.), introduced mobile cartography or small display cartography as a new interest of cartographers. In addition to new technological capabilities of them, all these devices have different users with various purposes as navigation, vehicle tracking, data acquisition, and etc. Therefore, map design for mobile devices needs different and special design considerations in addition to conventional cartographic methods. Modern mobile devices usually have high portability but, conversely, with low-resolution and small screens, limited memory storage and low processing power. All these constraints bring about several common problems to the new mobile mapping applications. Especially, constraints that are considered for the communication of the information on a small display device are required for effective presentation of geographical information. In order to overcome this limitations map content is simplified by using generalization methods. In this position, the aim of the whole process as navigation or tracking should be well known to determine level of simplification. Multiple representations which contain different levels of detail of the same world reality are used in such cases as interfaces [Dogru and Ulugtekin, 2006]. The simplification should not only be applied to the geographical data but also consider much about how the users interact and understand the map such that the users needs for navigation [Cheung 2007, Nivela & Sarjakoski 2005]. As mapmaking tools become more available and user friendly for non-cartographers to use due to advances in technology, the potential of producing poor quality maps increased. Poor quality maps can lead to poor decision making and misunderstanding of world reality [Arleth 1999]. For example, when navigation task executed with poor quality maps is considered, it may confuse or distort navigation by communicating wrong information to the driver. Good quality navigation maps have the potential to transform complex road data into accessible, understandable, and convincing information. 2. CARTOGRAPHIC VISUALIZATION FOR MOBILE MAPPING Scientific cartography has the task to develop and research new methods of cartographic visualization. For that purpose the knowledge about graphical representation of geoinformation must be connected with modern digital visualization tools. The main focus in modern cartography is on understanding the processes and methods of “how to efficiently communicate with spatial information”. Various demands are stated that the cartographic visualization should meet as legibility, plainness, and accuracy [Franges 2007]. Apart from that, the cartographic visualization should meet also the demands that can be posed upon any graphic presentation. Clearness and aesthetics have the greatest importance for the cartographic visualization. Each of the above stated demands can be carried out on single ingredient parts of the cartographic presentation, but it is much more adequate to do it through their purposeful combining. Legibility includes the minimal sizes for symbol and text, graphic density of map elements and presenting the changes of spatial data like land use. Plainness includes the conventional rules as the use of blue for water information, organization of hierarchies and symbolism as road classification and building combination. It is important that the sign accuracy as well as positional accuracy. Clearness includes layer arrangement, simplicity, generalization and contrast among the map objects. Aesthetics must be beauty and harmony for all map design elements [Franges 2007]. Once a graphical map image is shown, the users start map understanding/reading procedures. According to Keates (1982), users understand a map image in four major processes including detection, discrimination, recognition and identification. Firstly, when a map is displayed, the human eyes are stimulated and some geographical objects are detected. Then, the discrimination process makes the users notice different kinds of map objects by the human brain. After that, some of the objects are recognized and some of them are understood through the identification process. After all these processes, user understands the content in the map. The map understanding procedures occur frequently in map reading when there is, typically, a change in the display. These procedures are usually slow and depended on the experience of the users. Therefore, the refresh of the map image makes the users to go over again and again the map understanding procedures for the whole map image including the information has already been read and understood. The more the information there, the longer time the users need to understand the map content. This situation should be carefully considered when designing maps for small display devices, because the limited dimensions of these devices should display optimum data to increase the users’ perception. Otherwise, the implemented process, for example navigation, can be resulted in accidents because of time consuming to understand the map content. Zoom levels are currently used to cover this requirement but it should also be considered that too many zoom levels also increases the load of the map understanding procedures because a refresh of screen is required to show a new map image. The increase in the cognitive load of the map understanding procedures may result in the inconvenient and complicated map. The reduction of the load, therefore, such as reducing the number of zoom levels and reducing the information in the maps can enhance the readability, efficiency and effectiveness of the map reading processes [Cheung 2007, Nivela & Sarjakoski 2005]. The main application of mapping for mobile devices is navigation assistance or wayfinding. While the primary purpose of wayfinding with maps is to get to the destination with as little effort as possible, the secondary purpose is the creation of a mental map of the route that will aid in finding the location again without the use of a map. In contrast, when using a mobile device for wayfinding, the user is directed to a location with minimal mental effort by the user. In addition, the map presented on the mobile device is often too simplistic to create a functional mental map of the environment. Because there is little overlap between the map and the environment, the quality of the resultant mental map is compromised [Peterson 2007]. The process of finding out where user is helps to form a mental map, a mental conception of where user has been and where user needs to go. Mobile mapping devices, like navigation systems in general, do not seem to contribute to the formation of long-term mental maps [Peterson 2007]. Within the navigation system a geographic database is available for semantic and spatial queries and network analysis. Network analysis use generalization, where results of queries also benefit from cartographic visualization and symbolization. The process is a feed-back cycle, since the driver is prompted to take the next action based upon receiving a particular view of the environment and understanding. A simple flow chart, which starts with the acquisition of the positional data by the entry of the driver or by the use of spatial or semantic queries executed through geographic database and ends with the vehicle control, for the system operation is provided in Figure 1. Figure 1: The Car Navigation System Operation [Dogru et al. 2007]. In this figure, dashed arrow lines represent the human interaction of the system while solid arrow lines represent the common process of the designed system [Dogru et al. 2007]. System is based on the interaction of human (user/driver) and machine (system). It uses an input data of location determined by the user or obtained by semantic or spatial queries executed by the user. The knowledge discovery from database in car navigation systems starts in this stage while obtaining the positional data from the geographic data base and it continues through the database generalization to derive the route data and instruction generation to navigate the driver. Whole process is interactive; especially vehicle control depending on the instructions displayed to the driver is the last and the most important part of this interaction since the confidence of the travel depends on this usable knowledge derived from the final instructions. The mental map of the selected route to destination is formed by the driver by using final instructions visualized on maps [Dogru et al. 2007]. 2.1. Generalization and Multiple Representations “Generalization” will appear as a problem in visualization because of working with different scales as a result of spatial data base content and aim of the map. Although database generalization emphasizes data content, completeness, and accuracy, while cartographic generalization deals with symbol conflicts and legibility in map space, the one principle that both have in common is to preserve the geographic characteristics. Generalization is about representing the spatial relationship of features and their geographical patterns as faithfully as possible at a given scale, and therefore it requires to analyze, to recognize, and to manipulate features in such geographic context [Lee 2004]. At the very basic level, each geographic feature is stored as a record (point, line, or polygon) in a database, usually with a set of geographic attributes. After generalization process, the spatial relationship may be destroyed and the geographic pattern may be distorted so it is critical to know or to find how certain features are spatially related with surrounding features and to represent such contexts properly. Some of the spatial relationships can be modelled and maintained in the geographic database; others need to be analyzed and computed. In geographic information systems (GIS) technology, these relationships are maintained through an association known as topology [Lee 2004]. The thematic or the topographic use of the spatial data effects and changes the design of maps. Currently, these kinds of design problems are solved with the systems which include the layers with their automated filters according to scale of screen. An intelligent map allows the display of any zoom level, automatically adjusting the degree of generalization, and gives the user a possibility of combining map layers and perhaps of using alternate symbolization. To assure that the resulting maps have a sufficient cartographic quality, each map layer is associated with look up tables defining how the layer can be visualized, what symbolization is allowed, what scales the layer can be applied in etc. [Arleth 1999]. However, presentation of the redundant data in limited dimensions is still considered as complicated problem [Dogru and Ulugtekin 2006]. Multiple Representation Database (MRDB) approach, which can be used to store the same real world phenomena at different levels of accuracy and resolution, can be considered as a solution for this problem together with small display cartography studies [Dogru, 2004]. A comprehensive description of the MRDB is done in Kilpelainen (1997) and her studies were resulted in an MRDB model for generalization of geodatabases for topographic maps. Many of researches propose the MRDB as the solution covering data management, automated generalization, and map production which are accepted as the current problem of Cartography. Therefore, today MRDB is one of the most important subjects of concerning disciplines and many studies are executed as an MRDB application for adapting the previous studies to this approach. Car navigation process is basically one of these applications with its road map needs in different levels of details (Figure 2) [Dogru 2004; Dogru & Ulugtekin 2006, Ulugtekin & Dogru 2005]. As it is represented in Figure 2 different representation levels includes different contents according to their aim. Representation levels for navigation purposes can be classified as base, district, county, city and the national levels. Small scale maps are used for national and international levels of the application. A map of this level contains national boundaries and international motorways for general overview of the application area. If the nationwide navigation is considered, national road maps consisting international motorways, state roads and city boundaries should be visualized for general overview. Scale selection depends on the coverage area in this concept. For instance a general overview of the whole Turkey can be obtained 1:8 000 000 scaled maps while the city maps with an approximate scale of 1:250 000 are used for viewing the general structure of the city and origin and the destination of the navigation. Administrative boundaries, motorways, state roads, railways, airports, and related text are common content of these maps. Figure 2: Road Maps for Different Representation Levels Much more generalization is needed while deriving the maps for county level. Point of interests (POIs) are selected and represented with their symbols while the other buildings are eliminated (Figure 2). Land use classes are determined as the density of the buildings in the building blocks. Scale is selected in a range of 1:5000 and 1:10 000 by considering the coverage area. Detailed map is included in advance, containing all necessary information and covering the selected area as land use, POIs, district and building block boundaries, all roads and related text. It means that the content of the maps is not classically related with the scale. All detail maps are designed for a userdependent display of information [Ulugtekin et al. 2004, Dogru & Ulugtekin 2006,]. 3. SMALL DISPLAY MAP DESIGN Cartographers use various tools just as functions, rules and conventions for visualization. The better cartographic presentation with adequate resolution, well-defined symbols, harmonious use of colour, good legibility and optimally placed titles and optimal graphic density attracts users and gives better information. Simplification algorithms used for generalization of the road network are the example of the functions. Use of the graduated symbols for representing quantity of attribute data or illuminating from northwest while using shading method for the representation of the elevations can be considered as the example of rules. On the other hand, representing the object according to the principle of similarity with the reality or by adopting symbols (water with blue, mountains with brown and etc.) is a convention of cartography. Also, the same objects should be presented in the same colour; different colour intensity should be associated according to the importance of an object, etc. However using all of these known rules can not be sufficient to obtain the desired result [Franges 2007, Kraak & Ormeling 1996, Nivela & Sarjakoski 2005, Ulugtekin & Dogru 2004]. Presentation of the information is an important and classical subject of the cartography. Cartographer works on an unknown spatial data to produce multi purpose maps for communication of this data. Although new technological developments submit useful facilities as internet or multimedia for cartography, they also cause the production of low quality maps. It shows that the development of the technology and cartographic design do not proceed simultaneously. However, developments on the GIS software [Hardy et al. 2004, Lee 2004] have caused both new map makers and devices for producing and presenting maps. This situation has not only increased the map production and developed its production techniques but also resulted in new design problems [Ulugtekin & Dogru 2004]. Map design includes various factors just as; cognition level, map content, symbols, standards, scale and accuracy, depending on characteristics of the analyses in the scope of the aim of the map. Most of these factors are related to each other and they affect themselves. Production cost, time and aesthetic play a determinative role in all map production processes. Presenting information on screen is much more limited than on paper. However, presenting numerous comparative data along with each other becomes easier by using a well designed database. As a result, although screen map design is more complicated, it has various special facilities just like interaction, animation, multimedia (audio, video and text). Besides, graphical design and symbols that can not be produced on paper can be formed on screen by the help of the technology. On the other hand, some restrictions appear when maps wanted to be presented on hand held devices. The file size of the map or its download performance is limited with the memory of the devices. Therefore more generalization is needed for small screen map design according to the aim. Use of vector format can be another solution these kinds of problems. Scroll bars, activated area or voice are used to reduce the content of the generalized maps for screens [Worm 2002]. For instance, when hand held devices used for car navigation are considered, it can not be possible to use pull down menus during navigation so voice messages help the map user instead of pull down menus. On the other hand pull down menu technology are generally used while designing maps and the systems for hand held devices used for personal navigation [Ulugtekin & Dogru 2004]. Map content completely depends on the map scale. If the screen scale reduced too much it will make the map unreadable so it will be difficult to use such map for data communication. On the contrary, larger scales cause orientation problems (loss of orientation) for the user. Screen scaling solutions (static and dynamic scaling) of web cartography are also used for hand held devices. Static zooming is mechanical increasing in object size in natural scale. Therefore this kind of zooming can cause orientation and readability problem on large and small scales. Dynamic zooming technique is frequently used while designing maps for hand held devices. As a result, a default data representation scale should be determined while designing maps [Ulugtekin & Dogru 2004]. Map title and legend are other components that make a map more understandable. On the other hand, north arrow is used for orientation if there is no grid. Finally, additional information just as projection and bibliographic information are other details that differs a map from an ordinary sketch. Although, all these information is needed for classical maps, hand held devices can not represent this amount of information because of display area problems. There are more complex problems for hand held devices in this situation. Their usage conditions, aim and display limitations affect all component of the maps and most of these elements are not shown on screen [Ulugtekin & Dogru 2004]. 3.1. Symbol Design As the map scale reduces, the representation of the mapped features becomes more and more symbolic. There are point, line and area symbols and texts on a map. Symbols are designed by using graphic variables (position, size, value, texture/pattern, colour, orientation and shape) defined by Bertin. Each graphic variable has a different information characteristic and they are sometimes used in screen and classical map design differently [Bertin 1983, Ed 2001, Kraak 2002, Nivela & Sarjakoski 2005, Ulugtekin & Dogru 2004]. A symbol on a map must maintain a minimum dimension so it can be printed legibly. Below certain map scale, a symbolized feature may no longer be measured to scale and will occupy more space than it does on the ground; this causes the space between features to reduce or diminish and the symbolized features appear collapsed to each other or overlap. It is necessary to clarify the lost spacing so that features are properly separated and recognizable. Cartographic generalization deals with symbolized features in map space and resolves symbol conflicts. For example, a point typification process needs to take into account the point symbol dimension and to satisfy a minimum spacing between the point symbols; a line simplification process needs to consider the width of the line symbol [Lee 2004]. Point symbols are examined in three categories which are pictorial, geometric and alpha numerical. All of these symbols are very simple and understandable. Especially pictorial symbols are frequently used, because they do not need legend. On the other hand geometric (abstract) and alpha numeric symbols need legend. Point symbols are mostly used for the presentation of the qualitative data but it can also be used for the representation of the quantitative data by using them in different sizes. Moreover the graphic variables shape and colour, can give qualitative characteristics to these symbols. Most printed maps make use of point symbols or pictograms (icons). When converted to the screen map, the pictograms become either illegible or big and bulky. In general a pictogram on a screen map should not exceed 16x16 pixels, as larger symbols will be much to dominating. To design meaningful pictograms in 16x16 pixels is a task requiring special graphic talents. Hence the use of iconic symbols in screen maps ought to be limited or avoided because of dimensional limitations of screens. When map design for hand held (mobile) devices is considered, international and space saving simple point symbols (especially pictorial) should be used for fast recognition. Several point symbols with minimum size of 3x3 pixels are produced for hand held devices in GiMoDig Project [Arleth 1999, Nissen et al. 2003, Ulugtekin & Dogru 2004]. Line symbols are used to represent line objects. Line symbols should be easy recognizable for each line objects (like road and railway) by using shape and colour. Cartographers do not prefer using orientation and pattern while designing very thin and diagonal line symbols. Besides animated line symbols are used to show traffic flows. Minimum size of linear object types is defined to 10x1 pixels for hand held devices in GiMoDig Project [Nissen et al. 2003, Ulugtekin & Dogru 2004]. Unlike buildings, roads even at this large scale may be classified into three categories: main roads with more than one lane, secondary road with only one lane and minor roads of walkways. These are already varied by nature in length and width. So a certain font and size may be consistently applied to each class [Pun-Cheng & Shea 2007]. Area symbols used to represent the area objects and the data based on area. They are designed by using colour, pattern, shape and orientation. However unconscious use of these graphic variables causes semantic errors and huge file sizes. So this kind of symbols should be used carefully while designing maps for hand held devices. In GiMoDig Project minimum size of area object types is defined to 8x4 pixels, except buildings in outline as template which minimum size is defined to 4x2 pixels [Nissen et al. 2003, Ulugtekin & Dogru 2004]. The texture, which is frequently used for area symbols in classical map design, is not advised for screen map design for area symbols. While designing screen maps two new variables, transparency and shade, is used instead of texture. The screen map designer faces a difficult task; balancing between keeping the screen map simple and avoiding too empty areas. As solution should be mentioned Arleth (1999); using digital orthophotos or satellite imagery as background will prevent the problem with “dead” areas [PunCheng & Shea 2007] but this solution is not suitable for the small screen map design. Lettering is a common problem in map design. Readability, legibility, harmony and a distinct visual hierarchy are some of the requirements of the lettering of a map. A map without text can not be considered. At least place names, elevation values and the oıther required textual information should be represented, otherwise it will be impossible to understand that map. However there are several rules and conventions for using text on maps. For example the difference between the natural and the artificial objects is obtained by using italic characters for natural ones. This method does not give good results on screen maps. The difficulties arise from the limitations of the small screen, primarily the coarse resolution. Besides it is difficult to label features without introducing a shadow around text because the background colour of the map is mixed in with the foreground colours of the text but this method increases the file sizes. The smallest readable text on the screen is 10 pts. However, visually impaired persons require minimum 12-14 pts. Lighter colour for the background and darker one for the text should be used for visually impaired people [Arleth 1999, Ulugtekin & Dogru 2004]. To establish a suitable visual hierarchy between the lettering of different elements, the designer needs a certain scope of sizes and styles, and consequently has to make use of small lettering as well. Few fonts, that are currently available, are designed specifically for the screen. Empirical studies suggest that sans serif fonts (like Verdana or Tahoma) are more legible in small scales on the screen than antiquas [Arleth 1999]. But it must be noted that even though a certain font might look nice on the screen (even in small types) when applied horizontally, the letters can appear quite differently sloping and slanting to follow the features in the map. Lettering can be switched on and off, according to shifts in theme or scale, it can be applied as “pop up” labels or spoken “labels” [Arleth 1999]. Especially for hand held devices voice can be used as a graphic variable instead of text. On the other hand viewing distance affects the text size and font too. This should be considered as an important detail for hand held devices used for car navigation systems [Ulugtekin & Dogru 2004]. With some exceptions of minor roads, road names do not normally require short forms or abbreviations for placement constraints. However name placement of roads suffers from the problems of overlapping at the junctions and deviation from the road alignment. In the latter case, it is important that the centerline created for guiding the placement should align with the original road curvature. Also for long roads, it is necessary to repeat labeling at appropriate intervals [Pun-Cheng & Shea 2007]. Colour is an important component of the map design to make it more understandable because it bridges the map features with real objects by using natural colours. However there are several problems on colour while designing screen maps. First of all, computers show the colours depending on its graphic card, screen resolution and other hardware quality so hardware affects colour choice. On the other hand, making a “good” designed map does not mean using various colours [Ulugtekin & Dogru 2004]. “Contrast” is the key word in this stage. All information has a different importance on a map so they should be visualized based on their importance level and this affects colour choice too. Besides, map user is very important for colour choice so some issues should be considered when symbolizing maps for screen displays. These attentions become more important for small display cartography. Because the screen resolution of the hand held devices are lesser than computers and it dramatically affects the colours. Optimal amount of colour should be used for these kinds of devices for solving this problem [Ulugtekin & Dogru 2004]. Additionally use conditions are another factor affecting the colour choice. For example various colours can be used for day or night view of navigation maps or seasonal characteristics of the reality (sunny for summers and snowy for winters) can also affect this choice. 4. DISCUSSION AND CONCLUSIONS Small display devices are very special hardware with their display media. Because they are in small dimensions, the maps that they used for different purposes should be specially designed. Besides, they are used for spatial applications as navigation so the data used by them should be updated regularly. Although there are some works for small display design and solving update problems, serious works should be started and implemented. As mentioned before hand held devices have difficulties for displaying data effectively due to the small screen size, resolution and other factors. However, there are methods to expand the design possibilities and overcome some of the restrictions by using design techniques just like use of colour, generalization of data to be displayed and the use of audio. Understanding the data presented in small display media is quite important for the communication of the information. Some visual tools are used for different applications. Perspective view of environment is very important for perception of reality in this manner. Zooming tools are also helpful to increase the perception of the user but in some applications the maps are getting problems with different zooming steps; symbols or texts must be appeared and disappeared regularly between different scales. If the step between map scales is too large, the visualization between different scales is distinctively different. This made it difficult to make a connection between a large scale and small scale map and to keep track of a specific location at different scales. Although legend is considered as the main tool to understand the map content, it can not be used for small display map design because of the lack of the place to locate it. The designer must have an understanding of the map much more than a graphic, additionally the designer needs to understand what kind of functionality is desired and needed for effective use of a small screen map. Problems and solutions concerning the map design will depend on the purpose of the map, the conditions under which it is to be used, and the qualifications of the intended users. Solutions and choices in the map design have to take these conditions in consideration as well, and will in addition depend on the technology and on the knowledge and skills of the designer. As the commitment to maps and cartography should be the driving force in the development and design of small screen maps, educating cartographers in usability engineering will be more likely to produce better interactive map applications, rather than teaching interface designers about maps and cartography [Arleth 1999]. Technology will go on giving new advises on design to cartography. “Dynamic interactive multidimensional maps” will join the cartographic theories as new facilities. 5. LITERATURE Arleth, M., 1999, Problems in Screen Map Design. Proceedings of the 19th International Cartographic Conference, Vol:1, pp: 849-857, Ottawa, Canada. Bertin, J., 1983, Semiology of Graphics: Diagrams, Networks, Maps. Traslated by William J. Berg, University of Wisconsin Press, USA. Cheung, Y.K., Li, Z., Chen, W., 2007, Simplification of Map Contents for Mobile –Based Navigations. ICA-The 23th International Cartographic Conference, 4-10 August, (CD). Moskow, Rusia. 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Ozgur DOGRU, MSc Istanbul Technical University, Geodesy and Photogrammetry Engineering Department, Cartography Division. Adress: İstanbul Teknik Üniversitesi, İnşaat Fakültesi Kartografya Anabilim Dalı 34469 Maslak/İstanbul-Türkiye Tel: +90 212 285 3774 Fax: +90 212 285 6587 e-mail: [email protected] Adress: İstanbul Teknik Üniversitesi, İnşaat Fakültesi Kartografya Anabilim Dalı 34469 Maslak/İstanbul-Türkiye Tel: +90 212 285 3827 Fax: +90 212 285 6587 e-mail: [email protected]
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