Learning and Matching Multi-View Descriptors for Registration of Point Clouds

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the one hand, and the development of robust matching strategies on the other hand. In this work, we first propose a multi-view local descriptor, which is learned from the images of multiple views, for the description of 3D keypoints. Then, we develop a robust matching approach, aiming at rejecting outlier matches based on the efficient inference via belief propagation on the defined graphical model. We have demonstrated the boost of our approaches to registration on the public scanning and multi-view stereo datasets. The superior performance has been verified by the intensive comparisons against a variety of descriptors and matching methods

The Traveling Salesman Problem Under Squared Euclidean Distances

Let $P$ be a set of points in $\mathbb{R}^d$, and let $\alpha \ge 1$ be a real number. We define the distance between two points $p,q\in P$ as $|pq|^{\alpha}$, where $|pq|$ denotes the standard Euclidean distance between $p$ and $q$. We denote the traveling salesman problem under this distance function by TSP($d,\alpha$). We design a 5-approximation algorithm for TSP(2,2) and generalize this result to obtain an approximation factor of $3^{\alpha-1}+\sqrt{6}^{\alpha}/3$ for $d=2$ and all $\alpha\ge2$. We also study the variant Rev-TSP of the problem where the traveling salesman is allowed to revisit points. We present a polynomial-time approximation scheme for Rev-TSP$(2,\alpha)$ with $\alpha\ge2$, and we show that Rev-TSP$(d, \alpha)$ is APX-hard if $d\ge3$ and $\alpha>1$. The APX-hardness proof carries over to TSP$(d, \alpha)$ for the same parameter ranges.Comment: 12 pages, 4 figures. (v2) Minor linguistic change

Route Planning in Transportation Networks

We survey recent advances in algorithms for route planning in transportation networks. For road networks, we show that one can compute driving directions in milliseconds or less even at continental scale. A variety of techniques provide different trade-offs between preprocessing effort, space requirements, and query time. Some algorithms can answer queries in a fraction of a microsecond, while others can deal efficiently with real-time traffic. Journey planning on public transportation systems, although conceptually similar, is a significantly harder problem due to its inherent time-dependent and multicriteria nature. Although exact algorithms are fast enough for interactive queries on metropolitan transit systems, dealing with continent-sized instances requires simplifications or heavy preprocessing. The multimodal route planning problem, which seeks journeys combining schedule-based transportation (buses, trains) with unrestricted modes (walking, driving), is even harder, relying on approximate solutions even for metropolitan inputs.Comment: This is an updated version of the technical report MSR-TR-2014-4, previously published by Microsoft Research. This work was mostly done while the authors Daniel Delling, Andrew Goldberg, and Renato F. Werneck were at Microsoft Research Silicon Valle

Differentially Private Publication of Sparse Data

The problem of privately releasing data is to provide a version of a dataset without revealing sensitive information about the individuals who contribute to the data. The model of differential privacy allows such private release while providing strong guarantees on the output. A basic mechanism achieves differential privacy by adding noise to the frequency counts in the contingency tables (or, a subset of the count data cube) derived from the dataset. However, when the dataset is sparse in its underlying space, as is the case for most multi-attribute relations, then the effect of adding noise is to vastly increase the size of the published data: it implicitly creates a huge number of dummy data points to mask the true data, making it almost impossible to work with. We present techniques to overcome this roadblock and allow efficient private release of sparse data, while maintaining the guarantees of differential privacy. Our approach is to release a compact summary of the noisy data. Generating the noisy data and then summarizing it would still be very costly, so we show how to shortcut this step, and instead directly generate the summary from the input data, without materializing the vast intermediate noisy data. We instantiate this outline for a variety of sampling and filtering methods, and show how to use the resulting summary for approximate, private, query answering. Our experimental study shows that this is an effective, practical solution, with comparable and occasionally improved utility over the costly materialization approach