116,221 research outputs found
Duel and sweep algorithm for order-preserving pattern matching
Given a text and a pattern over alphabet , the classic exact
matching problem searches for all occurrences of pattern in text .
Unlike exact matching problem, order-preserving pattern matching (OPPM)
considers the relative order of elements, rather than their real values. In
this paper, we propose an efficient algorithm for OPPM problem using the
"duel-and-sweep" paradigm. Our algorithm runs in time in
general and time under an assumption that the characters in a string
can be sorted in linear time with respect to the string size. We also perform
experiments and show that our algorithm is faster that KMP-based algorithm.
Last, we introduce the two-dimensional order preserved pattern matching and
give a duel and sweep algorithm that runs in time for duel stage and
time for sweeping time with preprocessing time.Comment: 13 pages, 5 figure
Deleting and Testing Forbidden Patterns in Multi-Dimensional Arrays
Understanding the local behaviour of structured multi-dimensional data is a
fundamental problem in various areas of computer science. As the amount of data
is often huge, it is desirable to obtain sublinear time algorithms, and
specifically property testers, to understand local properties of the data.
We focus on the natural local problem of testing pattern freeness: given a
large -dimensional array and a fixed -dimensional pattern over a
finite alphabet, we say that is -free if it does not contain a copy of
the forbidden pattern as a consecutive subarray. The distance of to
-freeness is the fraction of entries of that need to be modified to make
it -free. For any and any large enough pattern over
any alphabet, other than a very small set of exceptional patterns, we design a
tolerant tester that distinguishes between the case that the distance is at
least and the case that it is at most , with query
complexity and running time , where and
depend only on .
To analyze the testers we establish several combinatorial results, including
the following -dimensional modification lemma, which might be of independent
interest: for any large enough pattern over any alphabet (excluding a small
set of exceptional patterns for the binary case), and any array containing
a copy of , one can delete this copy by modifying one of its locations
without creating new -copies in .
Our results address an open question of Fischer and Newman, who asked whether
there exist efficient testers for properties related to tight substructures in
multi-dimensional structured data. They serve as a first step towards a general
understanding of local properties of multi-dimensional arrays, as any such
property can be characterized by a fixed family of forbidden patterns
Improved Approximate String Matching and Regular Expression Matching on Ziv-Lempel Compressed Texts
We study the approximate string matching and regular expression matching
problem for the case when the text to be searched is compressed with the
Ziv-Lempel adaptive dictionary compression schemes. We present a time-space
trade-off that leads to algorithms improving the previously known complexities
for both problems. In particular, we significantly improve the space bounds,
which in practical applications are likely to be a bottleneck
Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization
Many robotics applications require precise pose estimates despite operating
in large and changing environments. This can be addressed by visual
localization, using a pre-computed 3D model of the surroundings. The pose
estimation then amounts to finding correspondences between 2D keypoints in a
query image and 3D points in the model using local descriptors. However,
computational power is often limited on robotic platforms, making this task
challenging in large-scale environments. Binary feature descriptors
significantly speed up this 2D-3D matching, and have become popular in the
robotics community, but also strongly impair the robustness to perceptual
aliasing and changes in viewpoint, illumination and scene structure. In this
work, we propose to leverage recent advances in deep learning to perform an
efficient hierarchical localization. We first localize at the map level using
learned image-wide global descriptors, and subsequently estimate a precise pose
from 2D-3D matches computed in the candidate places only. This restricts the
local search and thus allows to efficiently exploit powerful non-binary
descriptors usually dismissed on resource-constrained devices. Our approach
results in state-of-the-art localization performance while running in real-time
on a popular mobile platform, enabling new prospects for robotics research.Comment: CoRL 2018 Camera-ready (fix typos and update citations
3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection
Cameras are a crucial exteroceptive sensor for self-driving cars as they are
low-cost and small, provide appearance information about the environment, and
work in various weather conditions. They can be used for multiple purposes such
as visual navigation and obstacle detection. We can use a surround multi-camera
system to cover the full 360-degree field-of-view around the car. In this way,
we avoid blind spots which can otherwise lead to accidents. To minimize the
number of cameras needed for surround perception, we utilize fisheye cameras.
Consequently, standard vision pipelines for 3D mapping, visual localization,
obstacle detection, etc. need to be adapted to take full advantage of the
availability of multiple cameras rather than treat each camera individually. In
addition, processing of fisheye images has to be supported. In this paper, we
describe the camera calibration and subsequent processing pipeline for
multi-fisheye-camera systems developed as part of the V-Charge project. This
project seeks to enable automated valet parking for self-driving cars. Our
pipeline is able to precisely calibrate multi-camera systems, build sparse 3D
maps for visual navigation, visually localize the car with respect to these
maps, generate accurate dense maps, as well as detect obstacles based on
real-time depth map extraction
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