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Recovering intermediate missing GPS points in a sparse trajectory, while adhering to the constraints of the road network, could offer deep insights into users' moving behaviors in intelligent transportation systems. Although recent studies have demonstrated the advantages of achieving map-constrained trajectory recovery via an end-to-end manner, they still face two significant challenges. Firstly, existing methods are mostly sequence-based models. It is extremely hard for them to comprehensively capture the micro-semantics of individual trajectory, including the information of each GPS point and the movement between two GPS points. Secondly, existing approaches ignore the impact of the macro-semantics, i.e., the road conditions and the people's shared travel preferences reflected by a group of trajectories. To address the above challenges, we propose a Micro-Macro Spatial-Temporal Graph-based Encoder-Decoder (MM-STGED). Specifically, we model each trajectory as a graph to efficiently describe the micro-semantics of trajectory and design a novel message-passing mechanism to learn trajectory representations. Additionally, we extract the macro-semantics of trajectories and further incorporate them into a well-designed graph-based decoder to guide trajectory recovery. Extensive experiments conducted on sparse trajectories with three different sampling intervals that are respectively constructed from two real-world trajectory datasets demonstrate the superiority of our proposed model., Comment: This paper has been accepted as a regular paper at IEEE TKDE

Trajectory data is essential for various applications as it records the movement of vehicles. However, publicly available trajectory datasets remain limited in scale due to privacy concerns, which hinders the development of trajectory data mining and trajectory-based applications. To address this issue, some methods for generating synthetic trajectories have been proposed to expand the scale of the dataset. However, all existing methods generate trajectories in the geographical coordinate system, which poses two limitations for their utilization in practical applications: 1) the inability to ensure that the generated trajectories are constrained on the road. 2) the lack of road-related information. In this paper, we propose a new problem to meet the practical application need, \emph{i.e.}, road network-constrained trajectory (RNTraj) generation, which can directly generate trajectories on the road network with road-related information. RNTraj is a hybrid type of data, in which each point is represented by a discrete road segment and a continuous moving rate. To generate RNTraj, we design a diffusion model called Diff-RNTraj. This model can effectively handle the hybrid RNTraj using a continuous diffusion framework by incorporating a pre-training strategy to embed hybrid RNTraj into continuous representations. During the sampling stage, a RNTraj decoder is designed to map the continuous representation generated by the diffusion model back to the hybrid RNTraj format. Furthermore, Diff-RNTraj introduces a novel loss function to enhance the spatial validity of the generated trajectories. Extensive experiments conducted on two real-world trajectory datasets demonstrate the effectiveness of the proposed model.