Efficient nearest-neighbor computation for GPU-based motion planning

Abstract — We present a novel k-nearest neighbor search algorithm (KNNS) for proximity computation in motion planning algorithm that exploits the computational capa-bilities of many-core GPUs. Our approach uses locality sen-sitive hashing and cuckoo hashing to construct an efficient KNNS algorithm that has linear space and time complexity and exploits the multiple cores and data parallelism effec-tively. In practice, we see magnitude improvement in speed and scalability over prior GPU-based KNNS algorithm. On some benchmarks, our KNNS algorithm improves the performance of overall planner by 20−40 times for CPU-based planner and up to 2 times for GPU-based planner. I

Interaction in Quantum Communication

In some scenarios there are ways of conveying information with many fewer, even exponentially fewer, qubits than possible classically. Moreover, some of these methods have a very simple structure--they involve only few message exchanges between the communicating parties. It is therefore natural to ask whether every classical protocol may be transformed to a ``simpler'' quantum protocol--one that has similar efficiency, but uses fewer message exchanges. We show that for any constant k, there is a problem such that its k+1 message classical communication complexity is exponentially smaller than its k message quantum communication complexity. This, in particular, proves a round hierarchy theorem for quantum communication complexity, and implies, via a simple reduction, an Omega(N^{1/k}) lower bound for k message quantum protocols for Set Disjointness for constant k. Enroute, we prove information-theoretic lemmas, and define a related measure of correlation, the informational distance, that we believe may be of significance in other contexts as well.Comment: 35 pages. Uses IEEEtran.cls, IEEEbib.bst. Submitted to IEEE Transactions on Information Theory. Strengthens results in quant-ph/0005106, quant-ph/0004100 and an earlier version presented in STOC 200

An optimal randomised cell probe lower bound for approximate nearest neighbour searching

We consider the approximate nearest neighbour search problem on the Hamming cube {0, 1} d. We show that a randomised cell probe algorithm that uses polynomial storage and word size d O(1) requires a worst case query time of �(log log d / log log log d). The approximation factor may be as loose as 2 log1−η d for any fixed η> 0. Our result fills a major gap in the study of this problem since all earlier lower bounds either did not allow randomisation [7, 21] or did not allow approximation [6, 3, 19]. We also give a cell probe algorithm that proves that our lower bound is optimal. Our proof uses a lower bound on the round complexity of the related communication problem. We show, additionally, that considerations of bit complexity alone cannot prove any nontrivial cell probe lower bound for the problem. This shows that the “richness technique ” [23] used in a lot of recent research around this problem would not have helped here. Our proof is based on information theoretic techniques for communication complexity, a theme that has been prominent in recent research [9, 2, 28, 18].

Department of Computer Science Activity 1998-2004

This report summarizes much of the research and teaching activity of the Department of Computer Science at Dartmouth College between late 1998 and late 2004. The material for this report was collected as part of the final report for NSF Institutional Infrastructure award EIA-9802068, which funded equipment and technical staff during that six-year period. This equipment and staff supported essentially all of the department\u27s research activity during that period

Scalable Nearest Neighbor Search with Compact Codes

An important characteristic of the recent decade is the dramatic growth in the use and generation of data. From collections of images, documents and videos, to genetic data, and to network traffic statistics, modern technologies and cheap storage have made it possible to accumulate huge datasets. But how can we effectively use all this data? The growing sizes of the modern datasets make it crucial to develop new algorithms and tools capable of sifting through this data efficiently. A central computational primitive for analyzing large datasets is the Nearest Neighbor Search problem in which the goal is to preprocess a set of objects, so that later, given a query object, one can find the data object closest to the query. In most situations involving high-dimensional objects, the exhaustive search which compares the query with every item in the dataset has a prohibitive cost both for runtime and memory space. This thesis focuses on the design of algorithms and tools for fast and cost efficient nearest neighbor search. The proposed techniques advocate the use of compressed and discrete codes for representing the neighborhood structure of data in a compact way. Transforming high-dimensional items, such as raw images, into similarity-preserving compact codes has both computational and storage advantages as compact codes can be stored efficiently using only a few bits per data item, and more importantly they can be compared extremely fast using bit-wise or look-up table operators. Motivated by this view, the present work explores two main research directions: 1) finding mappings that better preserve the given notion of similarity while keeping the codes as compressed as possible, and 2) building efficient data structures that support non-exhaustive search among the compact codes. Our large-scale experimental results reported on various benchmarks including datasets upto one billion items, show boost in retrieval performance in comparison to the state-of-the-art

Lower bound techniques for data structures

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.Includes bibliographical references (p. 135-143).We describe new techniques for proving lower bounds on data-structure problems, with the following broad consequences: * the first [omega](lg n) lower bound for any dynamic problem, improving on a bound that had been standing since 1989; * for static data structures, the first separation between linear and polynomial space. Specifically, for some problems that have constant query time when polynomial space is allowed, we can show [omega](lg n/ lg lg n) bounds when the space is O(n - polylog n). Using these techniques, we analyze a variety of central data-structure problems, and obtain improved lower bounds for the following: * the partial-sums problem (a fundamental application of augmented binary search trees); * the predecessor problem (which is equivalent to IP lookup in Internet routers); * dynamic trees and dynamic connectivity; * orthogonal range stabbing. * orthogonal range counting, and orthogonal range reporting; * the partial match problem (searching with wild-cards); * (1 + [epsilon])-approximate near neighbor on the hypercube; * approximate nearest neighbor in the l[infinity] metric. Our new techniques lead to surprisingly non-technical proofs. For several problems, we obtain simpler proofs for bounds that were already known.by Mihai Pǎtraşcu.Ph.D