12,651 research outputs found
GASP : Geometric Association with Surface Patches
A fundamental challenge to sensory processing tasks in perception and
robotics is the problem of obtaining data associations across views. We present
a robust solution for ascertaining potentially dense surface patch (superpixel)
associations, requiring just range information. Our approach involves
decomposition of a view into regularized surface patches. We represent them as
sequences expressing geometry invariantly over their superpixel neighborhoods,
as uniquely consistent partial orderings. We match these representations
through an optimal sequence comparison metric based on the Damerau-Levenshtein
distance - enabling robust association with quadratic complexity (in contrast
to hitherto employed joint matching formulations which are NP-complete). The
approach is able to perform under wide baselines, heavy rotations, partial
overlaps, significant occlusions and sensor noise.
The technique does not require any priors -- motion or otherwise, and does
not make restrictive assumptions on scene structure and sensor movement. It
does not require appearance -- is hence more widely applicable than appearance
reliant methods, and invulnerable to related ambiguities such as textureless or
aliased content. We present promising qualitative and quantitative results
under diverse settings, along with comparatives with popular approaches based
on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201
Optimally fast incremental Manhattan plane embedding and planar tight span construction
We describe a data structure, a rectangular complex, that can be used to
represent hyperconvex metric spaces that have the same topology (although not
necessarily the same distance function) as subsets of the plane. We show how to
use this data structure to construct the tight span of a metric space given as
an n x n distance matrix, when the tight span is homeomorphic to a subset of
the plane, in time O(n^2), and to add a single point to a planar tight span in
time O(n). As an application of this construction, we show how to test whether
a given finite metric space embeds isometrically into the Manhattan plane in
time O(n^2), and add a single point to the space and re-test whether it has
such an embedding in time O(n).Comment: 39 pages, 15 figure
Syntactic Separation of Subset Satisfiability Problems
Variants of the Exponential Time Hypothesis (ETH) have been used to derive lower bounds on the time complexity for certain problems, so that the hardness results match long-standing algorithmic results. In this paper, we consider a syntactically defined class of problems, and give conditions for when problems in this class require strongly exponential time to approximate to within a factor of (1-epsilon) for some constant epsilon > 0, assuming the Gap Exponential Time Hypothesis (Gap-ETH), versus when they admit a PTAS. Our class includes a rich set of problems from additive combinatorics, computational geometry, and graph theory. Our hardness results also match the best known algorithmic results for these problems
Fast Clustering with Lower Bounds: No Customer too Far, No Shop too Small
We study the \LowerBoundedCenter (\lbc) problem, which is a clustering
problem that can be viewed as a variant of the \kCenter problem. In the \lbc
problem, we are given a set of points P in a metric space and a lower bound
\lambda, and the goal is to select a set C \subseteq P of centers and an
assignment that maps each point in P to a center of C such that each center of
C is assigned at least \lambda points. The price of an assignment is the
maximum distance between a point and the center it is assigned to, and the goal
is to find a set of centers and an assignment of minimum price. We give a
constant factor approximation algorithm for the \lbc problem that runs in O(n
\log n) time when the input points lie in the d-dimensional Euclidean space
R^d, where d is a constant. We also prove that this problem cannot be
approximated within a factor of 1.8-\epsilon unless P = \NP even if the input
points are points in the Euclidean plane R^2.Comment: 14 page
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