An Efficient Index for Visual Search in Appearance-based SLAM

Vector-quantization can be a computationally expensive step in visual bag-of-words (BoW) search when the vocabulary is large. A BoW-based appearance SLAM needs to tackle this problem for an efficient real-time operation. We propose an effective method to speed up the vector-quantization process in BoW-based visual SLAM. We employ a graph-based nearest neighbor search (GNNS) algorithm to this aim, and experimentally show that it can outperform the state-of-the-art. The graph-based search structure used in GNNS can efficiently be integrated into the BoW model and the SLAM framework. The graph-based index, which is a k-NN graph, is built over the vocabulary words and can be extracted from the BoW's vocabulary construction procedure, by adding one iteration to the k-means clustering, which adds small extra cost. Moreover, exploiting the fact that images acquired for appearance-based SLAM are sequential, GNNS search can be initiated judiciously which helps increase the speedup of the quantization process considerably

Prospects and limitations of full-text index structures in genome analysis

The combination of incessant advances in sequencing technology producing large amounts of data and innovative bioinformatics approaches, designed to cope with this data flood, has led to new interesting results in the life sciences. Given the magnitude of sequence data to be processed, many bioinformatics tools rely on efficient solutions to a variety of complex string problems. These solutions include fast heuristic algorithms and advanced data structures, generally referred to as index structures. Although the importance of index structures is generally known to the bioinformatics community, the design and potency of these data structures, as well as their properties and limitations, are less understood. Moreover, the last decade has seen a boom in the number of variant index structures featuring complex and diverse memory-time trade-offs. This article brings a comprehensive state-of-the-art overview of the most popular index structures and their recently developed variants. Their features, interrelationships, the trade-offs they impose, but also their practical limitations, are explained and compared

From Theory to Practice: Plug and Play with Succinct Data Structures

Engineering efficient implementations of compact and succinct structures is a time-consuming and challenging task, since there is no standard library of easy-to- use, highly optimized, and composable components. One consequence is that measuring the practical impact of new theoretical proposals is a difficult task, since older base- line implementations may not rely on the same basic components, and reimplementing from scratch can be very time-consuming. In this paper we present a framework for experimentation with succinct data structures, providing a large set of configurable components, together with tests, benchmarks, and tools to analyze resource requirements. We demonstrate the functionality of the framework by recomposing succinct solutions for document retrieval.Comment: 10 pages, 4 figures, 3 table

Fast, Small and Exact: Infinite-order Language Modelling with Compressed Suffix Trees

Efficient methods for storing and querying are critical for scaling high-order n-gram language models to large corpora. We propose a language model based on compressed suffix trees, a representation that is highly compact and can be easily held in memory, while supporting queries needed in computing language model probabilities on-the-fly. We present several optimisations which improve query runtimes up to 2500x, despite only incurring a modest increase in construction time and memory usage. For large corpora and high Markov orders, our method is highly competitive with the state-of-the-art KenLM package. It imposes much lower memory requirements, often by orders of magnitude, and has runtimes that are either similar (for training) or comparable (for querying).Comment: 14 pages in Transactions of the Association for Computational Linguistics (TACL) 201

Histogram-Aware Sorting for Enhanced Word-Aligned Compression in Bitmap Indexes

Bitmap indexes must be compressed to reduce input/output costs and minimize CPU usage. To accelerate logical operations (AND, OR, XOR) over bitmaps, we use techniques based on run-length encoding (RLE), such as Word-Aligned Hybrid (WAH) compression. These techniques are sensitive to the order of the rows: a simple lexicographical sort can divide the index size by 9 and make indexes several times faster. We investigate reordering heuristics based on computed attribute-value histograms. Simply permuting the columns of the table based on these histograms can increase the sorting efficiency by 40%.Comment: To appear in proceedings of DOLAP 200

Simple, compact and robust approximate string dictionary

This paper is concerned with practical implementations of approximate string dictionaries that allow edit errors. In this problem, we have as input a dictionary $D$ of $d$ strings of total length $n$ over an alphabet of size $\sigma$. Given a bound $k$ and a pattern $x$ of length $m$, a query has to return all the strings of the dictionary which are at edit distance at most $k$ from $x$, where the edit distance between two strings $x$ and $y$ is defined as the minimum-cost sequence of edit operations that transform $x$ into $y$. The cost of a sequence of operations is defined as the sum of the costs of the operations involved in the sequence. In this paper, we assume that each of these operations has unit cost and consider only three operations: deletion of one character, insertion of one character and substitution of a character by another. We present a practical implementation of the data structure we recently proposed and which works only for one error. We extend the scheme to $2\leq k<m$. Our implementation has many desirable properties: it has a very fast and space-efficient building algorithm. The dictionary data structure is compact and has fast and robust query time. Finally our data structure is simple to implement as it only uses basic techniques from the literature, mainly hashing (linear probing and hash signatures) and succinct data structures (bitvectors supporting rank queries).Comment: Accepted to a journal (19 pages, 2 figures