1,050 research outputs found
Mapping, Localization and Path Planning for Image-based Navigation using Visual Features and Map
Building on progress in feature representations for image retrieval,
image-based localization has seen a surge of research interest. Image-based
localization has the advantage of being inexpensive and efficient, often
avoiding the use of 3D metric maps altogether. That said, the need to maintain
a large number of reference images as an effective support of localization in a
scene, nonetheless calls for them to be organized in a map structure of some
kind.
The problem of localization often arises as part of a navigation process. We
are, therefore, interested in summarizing the reference images as a set of
landmarks, which meet the requirements for image-based navigation. A
contribution of this paper is to formulate such a set of requirements for the
two sub-tasks involved: map construction and self-localization. These
requirements are then exploited for compact map representation and accurate
self-localization, using the framework of a network flow problem. During this
process, we formulate the map construction and self-localization problems as
convex quadratic and second-order cone programs, respectively. We evaluate our
methods on publicly available indoor and outdoor datasets, where they
outperform existing methods significantly.Comment: CVPR 2019, for implementation see https://github.com/janinethom
Adaptive Evolutionary Multitasking to Solve Inter-Domain Path Computation Under Node-Defined Domain Uniqueness Constraint: New Solution Encoding Scheme
In multi-domain networks, the efficiency of path computation becomes more and more important. The Inter-Domain Path Computation under Node-defined Domain Uniqueness Constraint (IDPC-NDU) is a recently investigated problem where its objective is to determine the effective routing path between two nodes that traverses every domain at most once. IDPC-NDU is NP-Hard, so the approximation approaches are suitable to deal with this problem for large instances. Multifactorial Evolutionary Algorithm (MFEA) is an emerging research topic in the field of evolutionary computation that can efficiently tackle multiple optimization problems at the same time. This study proposed an approach based on the combination of the Adaptive Multifactorial Evolutionary Algorithm (dMFEA-II) and Dijkstra algorithm for solving IDPC-NDU. The encoding and evaluating methods based on the permutation representation are also introduced, and the new individual representation is always to produce valid solutions. The proposed algorithm is evaluated on two types of instances. Simulation results demonstrate the superior performance of the proposed algorithm in comparison with the existing algorithms in terms of the quality of the solution
Succinct Permutation Graphs
We present a succinct, i.e., asymptotically space-optimal, data structure for permutation graphs that supports distance, adjacency, neighborhood and shortest-path queries in optimal time; a variant of our data structure also supports degree queries in time independent of the neighborhood's size at the expense of an -factor overhead in all running times. We show how to generalize our data structure to the class of circular permutation graphs with asymptotically no extra space, while supporting the same queries in optimal time. Furthermore, we develop a similar compact data structure for the special case of bipartite permutation graphs and conjecture that it is succinct for this class. We demonstrate how to execute algorithms directly over our succinct representations for several combinatorial problems on permutation graphs: Clique, Coloring, Independent Set, Hamiltonian Cycle, All-Pair Shortest Paths, and others. Moreover, we initiate the study of semi-local graph representations; a concept that "interpolates" between local labeling schemes and standard "centralized" data structures. We show how to turn some of our data structures into semi-local representations by storing only bits of additional global information, beating the lower bound on distance labeling schemes for permutation graphs
Fine-Grained Complexity Analysis of Two Classic TSP Variants
We analyze two classic variants of the Traveling Salesman Problem using the
toolkit of fine-grained complexity. Our first set of results is motivated by
the Bitonic TSP problem: given a set of points in the plane, compute a
shortest tour consisting of two monotone chains. It is a classic
dynamic-programming exercise to solve this problem in time. While the
near-quadratic dependency of similar dynamic programs for Longest Common
Subsequence and Discrete Frechet Distance has recently been proven to be
essentially optimal under the Strong Exponential Time Hypothesis, we show that
bitonic tours can be found in subquadratic time. More precisely, we present an
algorithm that solves bitonic TSP in time and its bottleneck
version in time. Our second set of results concerns the popular
-OPT heuristic for TSP in the graph setting. More precisely, we study the
-OPT decision problem, which asks whether a given tour can be improved by a
-OPT move that replaces edges in the tour by new edges. A simple
algorithm solves -OPT in time for fixed . For 2-OPT, this is
easily seen to be optimal. For we prove that an algorithm with a runtime
of the form exists if and only if All-Pairs
Shortest Paths in weighted digraphs has such an algorithm. The results for
may suggest that the actual time complexity of -OPT is
. We show that this is not the case, by presenting an algorithm
that finds the best -move in time for
fixed . This implies that 4-OPT can be solved in time,
matching the best-known algorithm for 3-OPT. Finally, we show how to beat the
quadratic barrier for in two important settings, namely for points in the
plane and when we want to solve 2-OPT repeatedly.Comment: Extended abstract appears in the Proceedings of the 43rd
International Colloquium on Automata, Languages, and Programming (ICALP 2016
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