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On the Road and Off the Map: Maps for Self-Driving Cars in an Over-Paved World

Self-driving or autonomous cars promise a change in patterns of mobility more radical than any change in transportation.  While depending on maps, the maps made for self-driving cars are perhaps unlike any other:  not made or designed for human eyes. To be sure, we already drive in maps that we see ourselves moving along, in a mapped world as much as a real topography-and the internalized maps on our dashboards offer a basis from which it seems one barely has to move to imagine a machine-readable map of a self-driving vehicle–

–so that even our road signs can be obscured by the options that we have on the maps in our dashboards, and we are almost ready to offload responsibility for following the map onto the voices that provide directions, images that track our presence on the road, and put us in road maps, to permit replacing the landscapes through which we drive.

The increasing eventuality of assembling a machine-readable record of each edge of the road.  At the same time as roads are scanned, integrated with LIDAR imagery of the environment, and augmented with real-time feedback loops would provide a virtual 1:1 map of automative environments, in which cars could navigate autonomously–within parameters of speed limits, weather conditions, and oncoming traffic.  

Yet how intelligent are these “intelligent maps” by which self-driving maps integrate and position themselves in the space networks of roads?  As Shannon Mattern has argued, “With the stakes so high, we need to keep asking critical questions about how machines [are able] to conceptualize and operationalize space” that can recognize the human actors in space, and how the increased role of these networks of mapping serve as actants–shifting the networks of on-road behavior, or how, as Mattern puts it, “artificial intelligences, with their digital sensors and deep learning models” that perpetuate one image of space will “intersect with cartographic intelligences and subjectivities beyond the computational ‘Other'”  How will such maps, put differently, register people who also occupy the sidewalks, and the other cars on the highway (either as drivers or passengers), and how will they be effected by them?

The lack of a clear roadmap for self-driving cars notwithstanding, the eerily ghostly nature of LiDar views of streets, overpasses, and street side scenery seems to point up the absence of a sensory cartography of place. The maps for self-driving cars are not, it is true, for human subjects, and it is perhaps unfair to prejudge them or their selectivity. But despite the trust we are inclined to accord machines to reading space accurately and comprehensively, by synthesizing a total image of street conditions thatch replace the driver’s tacit sense of road conditions, as if they contain a greater precision than paper maps could hope to contain. We share amazement at the possibilities posed by mechanical sensing is, in a sense, pushed to new limits in the promises of self-driving cars, who have quickly gained multiple evangelists.

We already have cars able to signal their approach of the edges of traffic lanes, altering their human drivers of impending danger.  The promises of self-driving cars have generated increasing optimism in the United States and Japan, as the next generation of driving vehicles in a culture ready to embrace the new, perhaps because they promise the very possibility of constant motion in a country of speed.  But by removing routes of human motion and how humans move through road systems from direct intelligence, the maps that are being designed for autonomous vehicles to navigate the roadways of America and beyond suggest a new nature of space, as much as of transportation or transit:  and the maps for self-driving cars, while not designed for human readers, suggest a scary landscape rarely open to surprises and eerily empty of any sign of human habitation.

And what will even guarantee that the self-driving cars will not go off the roads?  The absence of human intelligence from the maps for self-driving cars creates a code-space that seems to depend on its interaction with human intelligence far more than its maps seem to register at first sight.  The simulated scenarios that have been created for such self-driving cars by engineers seem to seek to “provide a view of the world that a driver alone cannot access, seeing in every direction simultaneously, and on wavelengths that go far beyond the human senses,” but by nature depend on the ability to translate real-time scenarios in HD maps–as well as topological models–into the car’s actual course.

Waymo

For in promising to synthesize, compress and make available amazing amounts of spatial information and data sufficient to process the rapid increase of roadways that increasingly clog much of the inhabited world, they are maps for the age of the anthropocene, when ever-increasing spaces are being paved.  And although even after the arrival of promising “autonomous vehicles” from Tesla, which has introduced a new Autopilot feature able to maneuver in well-marked highways, and tests for urban driving by Uber, General Motors, and of course Google, the limited safety of relying only on sensors to navigate space in many areas, where vehicles are forced to integrate LIDAR, mid- and low-range radar, camera-based sensors, and road maps of real-time situations, and have difficulty calibrating road conditions and weather with the efficiency human drivers do.   The absence of a clear road map for their integration, however, is paralleled by the inability to synthesize contingent information in maps, which in their absence of selectivity offer oddly hyper-rich levels of information.

The notion of processing such comprehensive maps was far away when DARPA sent tout a call in 2003 inviting engineers to design self-driving cars that could navigate a one-hundred-and-forty-two-mile-long course in the desert, near Barstow, CA, across the desert to Prima, Nevada, without giving them a sense of its coordinates on a race-course filled with gullies, turns, rocks, switchbacks and obstacles–from train tracks to cacti–hoped to integrate GPS and sensors to create a car able to navigate space in as complete an image of road conditions as was possible.  If the rugged nature of these rigged-out vehicles recalled the first-run of a Mad Max film in their outsized nature paramilitary nature, designed as if to master landscape of any sort, they were so over-fitted with machinery were they with what seemed futuristic sensors that were tantamount to signage–

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–to seem to wrestle with the fundamental problem of mastering spatial information that the new generation of autonomous vehicles have placed front and center.

The top-down attempt of DARPA to stage a race of autonomous vehicles, was intended to keep soldiers out of harm’s way in a military context.  But the attempt to generate a new sort of military vehicles raised compelling questions of integrating a range of spatial signs in their apparatus of machine vision, laser range-finding data, and satellite imagery, but suffered from an inability to take in environmental information–no cars completed the course, as it was staged, and the vehicle traveling the furthest went only seven and a half miles.  Even in a course that was located in the desert–still the preferred site, given the lack of weather conditions and better kept up road surfaces, to test most self-driving cars to minimize unpredicted external influence–the relation of car to world was less easily negotiated than many thought.

While the results of the DARPA grand challenge wasn’t immediately successful, although the basis it set for future collaboration between machine-learning and automotive companies in notions of remote sensing.  It placed front and center the problem remains of how to establish more than a one-dimensional picture of the road ahead of the car to navigate the road ahead most easily.  And by 2007, the Urban Challenge, invited autonomous vehicles to navigate streets of an urban environment in Victorville, Calif., against moving traffic and obstacles and following traffic regulations, in ways that lifted a corner on the mappability of the future of driverless cars, as if to throw pasta against th ewall in the hopes tht some of it would stick.  Although the new starting point of self-driving cars on a network of readable roads, equipped with recognizable signage, remains the most profitable area for development, the machine-readable road maps eerily naturalize the parameters of the roads in their content, and absent humans from their surface.  Despite the recourse to satellite photography and attempts to benefit from aerial views, the notion of a map for the autonomous vehicle was barely conceived.  But in the almost fifteen years since, the maps that are being developed for self-driving cars have grown into an industry of their own, promising to orient cars to machine-readable records of the roadways in real-time.

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Filed under 3-D maps, autonomous cars, HD Maps, machine-readable maps, self-driving cars

Map-Inspired Madness: Mapping the Great White in the Solitude of Ahab's Cabin

The narrated search for the whale Moby Dick takes readers almost vertiginously off the known map, in an era of increased map-printing and the growing claims of map authorship, often insecure of the origins or coherence of their captain’s narrative design.  The quest for the elusive Great White takes readers literally off the map, as The Pequod leads readers off of map, in the  apparently unreliable narrative on a quest for Moby-Dick to areas less mapped as the almost  primal site of whale spawning, unknown to most, where the craft, itself adorned with whale bones—“tricking herself forth in the bones of her natural enemies,” bulwarks adorned with sperm whale teeth, rudder made from a whale jaw bone, seems to seek to arrive by human artifice, or be all too similarly cannibalized by its craft.

‘It is not down in any map; true places never are,’ Ishmael describes the mysterious origins of the real cannibal Queequeg in Moby Dick, who he calls “George Washington cannibalisticslly developed.   Queequeg hails from the South Seas, and his unknown origins betrays the fascination of unmapped spaces and the allure held by being “off” the map.  The concern with mapping places haunting the narrator of the novel obsesses the monomaniacal ship’s captain who leads his ship to the same area of the globe in search of the lone whale he seeks to lead an increasingly wary crew.  Melville wrote with a particular sense of spatiousness in a chapter that first tells the story of the Great White Whale–“Moby-Dick” (Chapter XLI)–poses the question of preserving collective knowledge to gain bearings on the location of the White Whale, that suggests the onset of the first mapped knowledge of whale routes.  If providing pictures of  the specter of the whale from from the point of view of the whale-man, the encounter of ships at sea at the start of the hundredth chapter betrays a  desperation to orient his ship on the high seas.

At the start of the hundredth chapter of the massive narrative, an obsessive Ahab cries hopefully to crews of a passing English ship monomaniacally—“Ahoy!   Hast thou seen the Great White?”   Ahab cries in biblical syntax in desperation to the approaching English ship’s captain and crew, showing his ivory leg to the ship whose captain barely seems to understand him, but improbably turns out to be his twin, having lost an arm last year to the very same white whale:  in a macabre recognition scene, the ships joined the two disfigured by the same whale clink ivory limbs, arm and leg, bound by both how their lives found new orientation after their encounters with the great white whale.  Ahab has prepared to track the whale’s course.    

While legends of sightings are dispersed among whaling ships “sprinkled over the entire watery circumference” in disorderly fashion, each “pushing their quest along solitary latitudes,” sharing knowledge about whales’ locations was prevented given the “inordinate length of each separate voyage” and “long obstructed the spread through the whole world-wide whaling fleet of the special individualizing tidings concerning Moby Dick.”  The sightings of sperm whales of uncommon magnitude provoked rumors and fears of encounters with the whale, as one might expect, even if they were recored at a fixed time or meridian.  For, Melville reminds us again of the unique space of the open seas, “in maritime life, far more than that of terra firma wild rumors abound, wherever there is any adequate reality for them to cling to;” in the “remotest waters” or “widest watery spaces,” whalemen are subject to “influences all tending to make his fancy pregnant with many a mighty birth.”  

Such an expansion of legends of the White Whale on the open seas contrast to the single-minded focus of Ahab’s tracking of Moby Dick, and the certainty that the Captain possesses of his ability to find Moby Dick on the open seas .  Such a fixation is opaque at the book’s start, but is perhaps most manifest in his obsessive desire to track the individual whale by the sea charts kept in his cabin, to which he retires to read each night, and seem to provide the first point of entrance into his psyche–and what Melville calls his “monomania.”  As the ship moves over the seas, Ahab returns often to his cabin to read charts, maps, and logs, as map-reading becomes a keen emblem of monomaniacal fixation–as the belief that maps will help him track the whale that he is committed to kill.  The maps may magnify the sense of monomania, the psychological diagnosis of an undue expansion of mental attention on one object; if repeated reading the maps serves as an emblem of the growth of his fixation despite the survival of his intellect; trying to pursue the whale on charts seems to serve to focus his vindictiveness, as if materializing how the “White Whale swam before him as the monomaniac incarnation of all this malicious agencies which some deep men feel eating at them, till they are left living with half a heart and half a lung.”  Ahab’s fixation on the yellowed charts he unrolled on his cabin table express the monomaniacal tendencies defined in nineteenth century psychiatry of how an inordinate fixation persists in an otherwise rational mind; the fixation on mapping the course of the whale obsesses his attentive mind.  

Is the hope of locating the White Whale by the rutters of past whaling ships and collation of mapped observations an emblem of nourishing an undue fixation of his pathological preoccupation, despite his apparent ability to reason the possible path of the whale’s path?  The extended narrative of the ongoing quest for Moby Dick on which Ahab leads Pequod that fills the content of the novel becomes a sort of psychic profile of the obsessiveness with which Ahab takes the Pequod, and the novel’s narrator Ishmael, to encounter Moby Dick in the South Seas–the site of whale -spawning where the novel culminates.  The retiring of Ahab to the solitude of his cabin matches his withdrawal into his mind and serves to nurse his preoccupations.  What provides a more gripping image of Ahab’s inner psyche than the obsessive attention that he gives to tracking the White Whale by maps?   Ahab retires to consult log-books and charts to cull sightings of sperm whales that almost substitute for an actual map or rutter–and for the trust that sailors might place in maps and charts to guide the ship.  The problem of locating the whale s underscored by mention of the “wild suggestions” of many ships that have given the whale chase of an “unearthly conceit that “Moby Dick was ubiquitous; . . .  had actually been encountered in opposite latitudes at one and the same instant of time;” if”the secrets of the currents in the seas have never yet been divulged, even to the most erudite research,” Ahab seeks to challenge this sense of ubiquity through his obsessive consultation of charts, by following of the outlines of naval courses.  His intensity comes to transform his very brown and visage into a lined map, tracing out courses, so that his forehead comes to resemble a chart; reading maps with such obsessiveness to track his prey seems to remove Ahab’s single-minded pursuit from any oceanic transit, and from the common good of the ship that he commands.

Ahab’s monomania may seem sui generis.  But it is closely tied to the mapping project of Mathew Fontaine Maury and the contemporary project of collating open data on whale migration in Melville’s time, and the promise of investing legibility in a global space of whale migration.  Even more than the bodily injury of the loss of his leg that left him tormented with visions of the White Whale, the obsessive tracking and persistent consultation of charts and maps with other records manifests the idée fixe by which Captain Ahab is obsessed, and indeed the solitary consultation of these charts while his crew sleeps at night stand for the single-minded madness of tracking one whale on the open seas.  The folly of tracking the White Whale on a map embodies Ahab’s monomaniacal pursuit of a way to track its course by a paper map.   So fully does map-reading come to consume both his mind and his body as he ponders charts every night in his cabin, drawing new lines and courses by pencil, and revising them, “threading a maze of currents and eddies, with a veiew to the more certain accomplishment of that monomaniac though of his soul, so focussed on a map that, in a brilliant image, his tormented face even becomes a map, bearing the traces of the pencil lines traced on the charts, as if the subject of his fixation rises to the surface of his skin, so entirely consumed his mind by the conceit of mapping the course of Moby Dick.  The appearance of these self-inflicted lines as if engraved on Ahab’s brow–Melville’s image–echo the captain’s fixation with obsessively tracing multiple marine courses on the charts he keeps in his cabin; the courses that are so intensely pondered seem to rise to lines inscribed on his own skin as if in as a consequence of the imprint that tracing possible courses  of the leviathan has brought.  

The conceit of the tracking of whales on maps appears an emblem of Ahab’s madness, if it almost echoes contemporary techniques of Global Positioning Systems.  The utter hopelessness of locating one whale in an ocean map seems apparent; Ahab has indeed so often red maps to transform himself into a map hoping to locate Moby Dick, and the conceit of mapping whales has filled his mind.  Yet, as the “hidden ways of the Sperm Whale when beneath the surface remain, in great part, unaccountable to his pursuers, . . . the most curious and contradictory speculations regarding them, especially concerning [how] he transports himself with such vast swiftness to the most widely distant points”    Melville presents the problem of mapping the course of whales as one by which the crazed Captain Ahab is increasingly consumed, pouring over charts in the captain’s cabin, increasingly isolated at a remove from the crew including Queequeg and Ishmael, and the fate of his ship.  Although whalemen by their expert knowledge often came to the conclusion after the White Whale so often escaped their capture “Moby Dick not only ubiquitous, but immortal,” the presumption of mapping the course of the White Whale’s course is perhaps the clearest illustration and emblem of Ahab’s hubris, and monomaniac obsession with tracking the whale above the expert knowledge of his crew, as he “led upon the whale’s white hump as the sum of all the general rage and hate felt by his whole race,” so violently did he come to see personified in the whale that had once torn off his leg all evil in the world, and pit himself against it.  Maps provide Ahab with a basis to nourish and expand the “monomania  in him [that] took its instant rise at the precise time of his bodily dismemberment.”  If such a mania began he returned home, stretched in a hammock on his homeward voyage, swaying in a straitjacket in the rocking boat returning across the tranquil tropics, as “his special lunacy having stormed his general sanity,” he obsessed after returning to Nantucket with the one aim of hunting the White Whale.  Monomania had almost fallen out of favor as a diagnosis by 1850, when Melville wrote, but novelists from Balzac to Bronte adopted the image of mental fixation and unhinged rationality that Ahab’s reading of maps convey.  

Nothing in Mellville’s novel is so great an emblem indicating Captain Ahab’s madness than his obsessive consultation of nautical charts and maps of which he is a jealous custodian, and which provide the basis to nourish his determination to locate Moby Dick.  Maps may feed Ahab’s relentless compulsion to track the White Whale.  Ahab’s obsession with maps reflects contemporary attempts to map the open seas:  indeed, the superstitious value of the leviathan held a special place in the “wild, strange tales of Southern whaling,” and the deep sympathy of whaling men for their prey, who they know far better than those naturalists who have perpetuated false legends of their fierce animosity for humans, from Palsson to Cuvier, distorting the actual awesomenes of pursuing any whale tracking the Great White.  

Ahab’s obsessive reading of maps to track Moby Dick seems a figure for his monomania, but reflects an actual mapping project tracking whales on the open seas, which Melville knew well, and a project of mapping the logs of whaling ships in legible cartographic form.  Ahab’s use of maps to track Moby Dick mirrors the cartographical project of Matthew Fontaine Maury, the nineteenth-century Virginian polymath and early hero of open data, who in 1851 sought to map migratory routes of Sperm and Right whales or the benefit of the whaling economy.   If Melville often consulted histories of arctic searches for Northern Whales published from the 1820s, the appearance of an authoritative map of the courses of whales that Maury had accumulated from ships’ logs provided a model that attempted to impose human reason and fixed continuity on a whale’s migrating itineraries and paths, in order best to predict its actual location.

Ahab’s obsessive hope to track the course of the great white whale Moby Dick in the ship the Pequod may mirror the scope and ambition of M.F. Maury’s project–a project that led to one of the odder maps of marine population and migration that appears below, but which is one of the monuments of open data.   For Melville, however, Ahab’s mania seems driven by the hope the map carried for being  able to track  the course of the great white whale that his prey, and to arrive at the moment of confrontation that will in fact never appear on any map.  For unlike the observations Maury graphically collated, the specificity of Ahab’s tie to Moby Dick is not on the map at all.

Whale Chart 1851Maury’s Whaling Map; Norman B. Leventhal Map Center at the Boston Public Library

Ahab’s self-imposed sequestering on the voyage of the Pequod in his cabin, surrounded by a variety of charts, seems emblematic of his single-minded obsession to track the elusive Moby Dick.  It is emblematic of a uniquely obsessive sort of map-reading emblematic of his particular sort of hubris:  as he will never know the true path of the majestic whale, his study of the map symbolizes a contest between the mapping abilities of man and whale.

The private consultation of the map in the the secret space of the captain’s cabin reveals the sharp contrast between the whale as an innate cartographer who migrated across seas and the knowledge of routes inscribed in lifeless nautical charts, and the inability to plot or plan the intense longing for his confrontation with Moby Dick within the range of observations of all whales by traveling whale ships.  But it also offers an amazing fantasia of the reading maps and nautical maps as if they were guides to habitation, and a reflection on the nature of map-reading and the comprehensive claims of encompassing known space within engraved maps, and specifically of the colored charts of sea routes, whaling and sighted whales that the oceanographer Matthew Fontaine Maury produced in the 1850s compiling nautical logs of whaling ships, after having remapped the coastline of the United States from the geodetic Survey of the Coast by the Swiss Ferdnand Hassler, which had tried to fulfill the Jeffersonian dream of a nation facing two oceans, before joining the Confederate cause.

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We have little sense of the amassing of data that existed in Ahab’s cabin, so much as the intense relation that the captain develops to his charts.  Melville describes how Ahab retires to his cabin to open “large wrinkled roll of yellowish sea charts, spread them before him on his screwed-down table,” ready to set himself to “intently study the various lines and shadings which there met his eye,” and escape into the paths that they trace.  The memorable episode in Ahab’s own cabin focusses attention on how the captain’s obsessive consultation of the maps, as a sort of emblem of his search to capture the whale in them.   Ahab processed information in the map as best he could, and “with slow but steady pencil trace additional courses over spaces that before were blank,” while consulting log-books of previous voyages and noted sightings of sperm whales in a desperate attempt to locate the migratory path of the white sperm whale Moby Dick–whose own route he so obsessively seeks to understand and on which he fixates so obstinately. The reading activity is isolated and isolation, because the map is essentially mute, a second order of spatial knowledge with which he has no literal traffic or exchange, but becomes a way to wrap himself in further isolation from the mammal that communes with the productive fecund waters of the sea.  “While he himself was marking outlines and courses on the wrinkled charts, some invisible pencil was also tracing lines and courses upon the deeply marked chart of his forehead,” as every night, “in the solitude of his cabin, Ahab thus pondered over his charts, . . . threading a maze of currents and eddys, with a view to the more certain accomplishment of that monomaniac thought of his soul.”

Such a collective map of the sightings of whales is both the focus and talisman of Ahab’s monomaniacal will:  both as the transcription of the paths of hidden submarine itineraries, “with the charts of all four oceans before him,” and the hubris of understanding the concealed migratory course of that noble whale with which he is so obsessed and that has long evaded his search.  For Melville confides that “it might seem an absurdly hopeless task thus to seek out one solitary creature in the unhooped oceans of this planet” to many; “But not so did it seem to Ahab, who knew the set of all tides and currents; thereby calculating the driftings of the sperm whale’s food, which whales were imagined to follow; and, also, calling to mind the regular, ascertained seasons for hunting him in particular latitudes; could arrive at reasonable surmises, almost approaching to certainties, concerning the timeliest day to be upon this or that ground in search of his prey.”  The privacy of the consultation of the tables that allow him to try to read this map, and to establish the position of the whale he seeks, becomes the basis for the captain’s obsessive hope to track the progress of the whale, better to interpret its location.

The intensive reading of ocean charts becomes a site of reading that obsesses Ahab as a means to determine and decipher the logic of its movement stand at odds with the description of the sublime nature of the sperm whale, whose own head cannot even be read without wondering at the majesty of the form of the “head of this Leviathan,” truly “an anomalous creature,” impossible to interpret or decipher, whose imposing grandeur is of such “god-like dignity” to defy human interpretation.  As the wonderfully described problem of the legibility of the “plaited forehead” of the Sperm Whale is a living surface that defies interpretation, inscribed with “innumerable strange devices for [its] emblematical adornment,” following not Euclidean mathematics, but rather “pure nautical mathematics,” the mapping of the course of the whale seems to defy tracking by Euclidean tools also defies reading, much as Melville described the sperm whale’s forehead forms a “mystically carved container,” the lines of whose face defy clear reading, as the “bumps on the head of this Leviathan” is a surface whose interpretation “no Physiognomist or Phrenologist has as yet undertaken,” and would challenge the abilities of Lavater–despite his study of animal faces–or Spurzheim or Gall, suggesting the intractable indecipherability of the whale, but whose “sublime aspect” and “added grandeur” Melville attempted, in the brow in which “mighty god-like dignity” is indeed “inherent” in a brow “plaited with riddles,” presenting Lavater’s mark of genius in the depressed crescent at its middle, in a brow “so amplified . . . you feel the Deity and the dread powers more forcefully than in any other object in living nature.”

As the brow of the leviathan remains challenging to be read, any hope of reading the map of the path it takes seems, despite Ahab’s desire and Maury’s map, Melville appears to assure his readers, as futile as a way locating the actual whale Moby Dick, but becomes an obsessing act of tracing, retracing, and location, that becomes Ahab’s main interpretive project in Melville’s book.

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Filed under American literature, data visualization, Herman Melville, Moby Dick, open data