3,595 research outputs found
Higher-Order Triangular-Distance Delaunay Graphs: Graph-Theoretical Properties
We consider an extension of the triangular-distance Delaunay graphs
(TD-Delaunay) on a set of points in the plane. In TD-Delaunay, the convex
distance is defined by a fixed-oriented equilateral triangle ,
and there is an edge between two points in if and only if there is an empty
homothet of having the two points on its boundary. We consider
higher-order triangular-distance Delaunay graphs, namely -TD, which contains
an edge between two points if the interior of the homothet of
having the two points on its boundary contains at most points of . We
consider the connectivity, Hamiltonicity and perfect-matching admissibility of
-TD. Finally we consider the problem of blocking the edges of -TD.Comment: 20 page
Traffic Analysis in Random Delaunay Tessellations and Other Graphs
In this work we study the degree distribution, the maximum vertex and edge
flow in non-uniform random Delaunay triangulations when geodesic routing is
used. We also investigate the vertex and edge flow in Erd\"os-Renyi random
graphs, geometric random graphs, expanders and random -regular graphs.
Moreover we show that adding a random matching to the original graph can
considerably reduced the maximum vertex flow.Comment: Submitted to the Journal of Discrete Computational Geometr
Structural graph matching using the EM algorithm and singular value decomposition
This paper describes an efficient algorithm for inexact graph matching. The method is purely structural, that is, it uses only the edge or connectivity structure of the graph and does not draw on node or edge attributes. We make two contributions: 1) commencing from a probability distribution for matching errors, we show how the problem of graph matching can be posed as maximum-likelihood estimation using the apparatus of the EM algorithm; and 2) we cast the recovery of correspondence matches between the graph nodes in a matrix framework. This allows one to efficiently recover correspondence matches using the singular value decomposition. We experiment with the method on both real-world and synthetic data. Here, we demonstrate that the method offers comparable performance to more computationally demanding method
Graph matching with a dual-step EM algorithm
This paper describes a new approach to matching geometric structure in 2D point-sets. The novel feature is to unify the tasks of estimating transformation geometry and identifying point-correspondence matches. Unification is realized by constructing a mixture model over the bipartite graph representing the correspondence match and by affecting optimization using the EM algorithm. According to our EM framework, the probabilities of structural correspondence gate contributions to the expected likelihood function used to estimate maximum likelihood transformation parameters. These gating probabilities measure the consistency of the matched neighborhoods in the graphs. The recovery of transformational geometry and hard correspondence matches are interleaved and are realized by applying coupled update operations to the expected log-likelihood function. In this way, the two processes bootstrap one another. This provides a means of rejecting structural outliers. We evaluate the technique on two real-world problems. The first involves the matching of different perspective views of 3.5-inch floppy discs. The second example is furnished by the matching of a digital map against aerial images that are subject to severe barrel distortion due to a line-scan sampling process. We complement these experiments with a sensitivity study based on synthetic data
Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation
Autonomous harvesting and transportation is a long-term goal of the forest
industry. One of the main challenges is the accurate localization of both
vehicles and trees in a forest. Forests are unstructured environments where it
is difficult to find a group of significant landmarks for current fast
feature-based place recognition algorithms. This paper proposes a novel
approach where local observations are matched to a general tree map using the
Delaunay triangularization as the representation format. Instead of point cloud
based matching methods, we utilize a topology-based method. First, tree trunk
positions are registered at a prior run done by a forest harvester. Second, the
resulting map is Delaunay triangularized. Third, a local submap of the
autonomous robot is registered, triangularized and matched using triangular
similarity maximization to estimate the position of the robot. We test our
method on a dataset accumulated from a forestry site at Lieksa, Finland. A
total length of 2100\,m of harvester path was recorded by an industrial
harvester with a 3D laser scanner and a geolocation unit fixed to the frame.
Our experiments show a 12\,cm s.t.d. in the location accuracy and with
real-time data processing for speeds not exceeding 0.5\,m/s. The accuracy and
speed limit is realistic during forest operations
Happy endings for flip graphs
We show that the triangulations of a finite point set form a flip graph that
can be embedded isometrically into a hypercube, if and only if the point set
has no empty convex pentagon. Point sets of this type include convex subsets of
lattices, points on two lines, and several other infinite families. As a
consequence, flip distance in such point sets can be computed efficiently.Comment: 26 pages, 15 figures. Revised and expanded for journal publicatio
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