A Geometric Perspective on Sparse Filtrations

We present a geometric perspective on sparse filtrations used in topological data analysis. This new perspective leads to much simpler proofs, while also being more general, applying equally to Rips filtrations and Cech filtrations for any convex metric. We also give an algorithm for finding the simplices in such a filtration and prove that the vertex removal can be implemented as a sequence of elementary edge collapses

Cone fields and topological sampling in manifolds with bounded curvature

Often noisy point clouds are given as an approximation of a particular compact set of interest. A finite point cloud is a compact set. This paper proves a reconstruction theorem which gives a sufficient condition, as a bound on the Hausdorff distance between two compact sets, for when certain offsets of these two sets are homotopic in terms of the absence of {\mu}-critical points in an annular region. Since an offset of a set deformation retracts to the set itself provided that there are no critical points of the distance function nearby, we can use this theorem to show when the offset of a point cloud is homotopy equivalent to the set it is sampled from. The ambient space can be any Riemannian manifold but we focus on ambient manifolds which have nowhere negative curvature. In the process, we prove stability theorems for {\mu}-critical points when the ambient space is a manifold.Comment: 20 pages, 3 figure

Algebro-geometric analysis of bisectors of two algebraic plane curves

In this paper, a general theoretical study, from the perspective of the algebraic geometry, of the untrimmed bisector of two real algebraic plane curves is presented. The curves are considered in C2, and the real bisector is obtained by restriction to R2. If the implicit equations of the curves are given, the equation of the bisector is obtained by projection from a variety contained in C7, called the incidence variety, into C2. It is proved that all the components of the bisector have dimension 1. A similar method is used when the curves are given by parametrizations, but in this case, the incidence variety is in C5. In addition, a parametric representation of the bisector is introduced, as well as a method for its computation. Our parametric representation extends the representation in Farouki and Johnstone (1994b) to the case of rational curves

Efficient closed-form estimators in multistatic target localization and motion analysis

Object localization is fast becoming an important research topic because of its wide applications. Often of the time, object localization is accomplished in two steps. The first step exploits the characteristics of the received signals and extracts certain localization information i.e. measurements. Some typical measurements include timeof-arrival (TOA), time-difference-of-arrival (TDOA), received signal strength (RSS) and angle-of-arrival (AOA). Together with the known receiver position information, the object location is then estimated in the second step from the obtained measurements. The localization of an object using a number of sensors is often challenged due to the highly nonlinear relationship between the measurements and the object location. This thesis focuses on the second step and considers designing novel and efficient localization algorithms to solve such a problem. This thesis first derives a new algebraic positioning solution using a minimum number of measurements, and from which to develop an object location estimator. Two measurements are sufficient in 2-D and three in 3-D to yield a solution if they are consistent. The derived minimum measurement solution is exact and reduces the computation to the roots of a quadratic equation. The solution derivation also leads to simple criteria to ascertain if the line of positions from two measurements intersects. By partitioning the overdetermined set of measurements first to obtain the individual minimum measurement solutions, we propose a best linear unbiased estimator to form the final location estimate. The analysis supports the proposed estimator in reaching the Cramer-Rao Lower Bound (CRLB) accuracy under Gaussian noise. A measurement partitioning scheme is developed to improve performance when the noise level becomes large. We mainly use elliptic time delay measurements for presentation, and the derived results apply to the hyperbolic time difference measurements as well. Both the 2-D and 3-D scenarios are considered. A multistatic system uses a transmitter to illuminate the object of interest and collects the reflected signal by several receivers to determine its location. In some scenarios such as passive coherent localization or for gaining flexibility, the position of the transmitter is not known. In this thesis, we investigate the use of the indirect path measurements reflected off the object alone, or together with the direct path measurements from the transmitter to receiver for locating the object in the absence of the transmitter position. We show that joint estimation of the object and transmitter positions from both the indirect and direct measurements can yield better object location estimate than using the indirect measurements only by eliminating the dependency of the transmitter position. An algebraic closed-form solution is developed for the nonlinear problem of joint estimation and is shown analytically to achieve the CRLB performance under Gaussian noise over the small error region. To complete the study and gain insight, the optimum receiver placement in the absence of transmitter position is derived, by minimizing the estimation confidence region or the estimation variance for the object location. The performance lost due to unknown transmitter position under the optimum geometries is quantified. Simulations confirm well with the theoretical developments. In practice, a more realistic localization scenario with the unknown transmitter is that the transmitter works non-cooperatively. In this situation, no timestamp is available in the transmitted signal so that the signal sent time is often not known. This thesis next considers the extension of the localization scenario to such a case. More generally, the motion potential of the unknown object and transmitter is considered in the analysis. When the transmitted signal has a well-defined pattern such as some standard synchronization or pilot sequence, it would still be able to estimate the indirect and direct time delays and Doppler frequency shifts but with unknown constant time delay and frequency offset added. In this thesis, we would like to estimate the object and transmitter positions and velocities, and the time and frequency offsets jointly. Both dynamic and partial dynamic localization scenarios based on the motion status of the object and the transmitter are considered in this thesis. By investigating the CRLB of the object location estimate, the improvement in position and velocity estimate accuracy through joint estimation comparing with the differencing approach using TDOA/FDOA measurements is evaluated. The degradation due to time and frequency offsets is also analyzed. Algebraic closed-form solutions to solve the highly nonlinear joint estimation problems are then proposed in this thesis, followed by the analysis showing that the CRLB performance can be achieved under Gaussian noise over the small error region. When the transmitted signal is not time-stamped and does not have a well-defined pattern such as some standard synchronization or pilot sequence, it is often impossible to obtain the indirect and direct measurements separately. Instead, a self-calculated TDOA between the indirect- and direct-path TOAs shall be considered which does not require any synchronization between the transmitter and a receiver, or among the receivers. A refinement method is developed to locate the object in the presence of the unknown transmitter position, where a hypothesized solution is needed for initialization. Analysis shows that the refinement method is able to achieve the CRLB performance under Gaussian noise. Three realizations of the hypothesized solution applying multistage processing to simplify the nonlinear estimation problem are derived. Simulations validate the effectiveness in initializing the refinement estimator

Evaluating the boundary and covering degree of planar Minkowski sums and other geometrical convolutions

AbstractAlgorithms are developed, based on topological principles, to evaluate the boundary and “internal structure” of the Minkowski sum of two planar curves. A graph isotopic to the envelope curve is constructed by computing its characteristic points. The edges of this graph are in one-to-one correspondence with a set of monotone envelope segments. A simple formula allows a degree to be assigned to each face defined by the graph, indicating the number of times its points are covered by the Minkowski sum. The boundary can then be identified with the set of edges that separate faces of zero and non-zero degree, and the boundary segments corresponding to these edges can be approximated to any desired geometrical accuracy. For applications that require only the Minkowski sum boundary, the algorithm minimizes geometrical computations on the “internal” envelope edges, that do not contribute to the final boundary. In other applications, this internal structure is of interest, and the algorithm provides comprehensive information on the covering degree for different regions within the Minkowski sum. Extensions of the algorithm to the computation of Minkowski sums in R3, and other forms of geometrical convolution, are briefly discussed

오프셋 곡선 및 곡면의 자가 교차 검출 및 제거

학위논문(박사)--서울대학교 대학원 :공과대학 컴퓨터공학부,2020. 2. 김명수.Offset curves and surfaces have many applications in computer-aided design and manufacturing, but the self-intersections and redundancies must be trimmed away for their practical use. We present a new method for offset curve and surface trimming that detects the self-intersections and eliminates the redundant parts of an offset curve and surface that are closer than the offset distance to the original curve and surface. We first propose an offset trimming method based on constructing geometric constraint equations. We formulate the constraint equations of the self-intersections of an offset curve and surface in the parameter domain of the original curve and surface. Numerical computations based on the regularity and intrinsic properties of the given input curve and surface is carried out to compute the solution of the constraint equations. The method deals with numerical instability around near-singular regions of an offset surface by using osculating tori that can be constructed in a highly stable way, i.e., by offsetting the osculating torii of the given input regular surface. We reveal the branching structure and the terminal points from the complete self-intersection curves of the offset surface. From the observation that the trimming method based on the multivariate equation solving is computationally expensive, we also propose an acceleration technique to trim an offset curve and surface. The alternative method constructs a bounding volume hierarchy specially designed to enclose the offset curve and surface and detects the self-collision of the bounding volumes instead. In the case of an offset surface, the thickness of the bounding volumes is indirectly determined based on the maximum deviations of the positions and the normals between the given input surface patches and their osculating tori. For further acceleration, the bounding volumes are pruned as much as possible during self-collision detection using various geometric constraints imposed on the offset surface. We demonstrate the effectiveness of the new trimming method using several non-trivial test examples of offset trimming. Lastly, we investigate the problem of computing the Voronoi diagram of a freeform surface using the offset trimming technique for surfaces. By trimming the offset surface with a gradually changing offset radius, we compute the boundary of the Voronoi cells that appear in the concave side of the given input surface. In particular, we interpret the singular and branching points of the self-intersection curves of the trimmed offset surfaces in terms of the boundary elements of the Voronoi diagram.오프셋 곡선 및 곡면은 computer-aided design (CAD)와 computer-aided manufacturing (CAM)에서 널리 이용되는 연산들 중 하나이다. 하지만 실용적인 활용을 위해서는 오프셋 곡선 및 곡면에서 생기는 자가 교차를 찾고 이를 기준으로 오프셋 곡선 및 곡면에서 원래의 곡선 및 곡면에 가까운 불필요한 영역을 제거하여야한다. 본 논문에서는 오프셋 곡선 및 곡면에서 생기는 자가 교차를 계산하고, 오프셋 곡선 및 곡면에서 생기는 불필요한 영역을 제거하는 알고리즘을 제안한다. 본 논문은 우선 오프셋 곡선 및 곡면의 자가 교차점들과 그 교차점들이 기인한 원래 곡선 및 곡면의 점들이 이루는 평면 이등변 삼각형 관계로부터 오프셋 곡선 및 곡면의 자가 교차점의 제약 조건을 만족시키는 방정식들을 세운다. 이 제약식들은 원래 곡선 및 곡면의 변수 공간에서 표현되며, 이 방정식들의 해는 다변수 방정식의 해를 구하는 solver를 이용하여 구한다. 오프셋 곡면의 경우, 원래 곡면의 주곡률 중 하나가 오프셋 반지름의 역수와 같을 때 오프셋 곡면의 법선이 정의가 되지 않는 특이점이 생기는데, 오프셋 곡면의 자가 교차 곡선이 이 부근을 지날 때는 자가 교차 곡선의 계산이 불안정해진다. 따라서 자가 교차 곡선이 오프셋 곡면의 특이점 부근을 지날 때는 오프셋 곡면을 접촉 토러스로 치환하여 더 안정된 방법으로 자가 교차 곡선을 구한다. 계산된 오프셋 곡면의 자가 교차 곡선으로부터 교차 곡선의 $xyz$-공간에서의 말단 점, 가지 구조 등을 밝힌다. 본 논문은 또한 바운딩 볼륨 기반의 오프셋 곡선 및 곡면의 자가 교차 곡선 검출을 가속화하는 방법을 제시한다. 바운딩 볼륨은 기저 곡선 및 곡면을 단순한 기하로 감싸고 기하 연산을 수행함으로써 가속화에 기여한다. 오프셋 곡면의 자가 교차 곡선을 구하기 위하여, 본 논문은 오프셋 곡면의 바운딩 볼륨 구조를 기저 곡면의 바운딩 볼륨과 기저 곡면의 법선 곡면의 바운딩 볼륨의 구조로부터 계산하며 이때 각 바운딩 볼륨의 두께를 계산한다. 또한, 바운딩 볼륨 중에서 실제 오프셋 곡선 및 곡면의 자가 교차에 기여하지 않는 부분을 깊은 재귀 전에 찾아서 제거하는 여러 조건들을 나열한다. 한편, 자가 교차가 제거된 오프셋 곡선 및 곡면은 기저 곡선 및 곡면의 보로노이 구조와 깊은 관련이 있는 것이 알려져 있다. 본 논문에서는 자유 곡면의 연속된 오프셋 곡면들로부터 자유 곡면의 보로노이 구조를 유추하는 방법을 제시한다. 특히, 오프셋 곡면의 자가 교차 곡선 상에서 나타나는 가지 점이나 말단 점과 같은 특이점들이 자유 곡면의 보로노이 구조에서 어떻게 해석되는지 제시한다.1. Introduction 1 1.1 Background and Motivation 1 1.2 Research Objectives and Approach 7 1.3 Contributions and Thesis Organization 11 2. Preliminaries 14 2.1 Curve and Surface Representation 14 2.1.1 Bezier Representation 14 2.1.2 B-spline Representation 17 2.2 Differential Geometry of Curves and Surfaces 19 2.2.1 Differential Geometry of Curves 19 2.2.2 Differential Geometry of Surfaces 21 3. Previous Work 23 3.1 Offset Curves 24 3.2 Offset Surfaces 27 3.3 Offset Curves on Surfaces 29 4. Trimming Offset Curve Self-intersections 32 4.1 Experimental Results 35 5. Trimming Offset Surface Self-intersections 38 5.1 Constraint Equations for Offset Self-Intersections 38 5.1.1 Coplanarity Constraint 39 5.1.2 Equi-angle Constraint 40 5.2 Removing Trivial Solutions 40 5.3 Removing Normal Flips 41 5.4 Multivariate Solver for Constraints 43 5.A Derivation of f(u,v) 46 5.B Relationship between f(u,v) and Curvatures 47 5.3 Trimming Offset Surfaces 50 5.4 Experimental Results 53 5.5 Summary 57 6. Acceleration of trimming offset curves and surfaces 62 6.1 Motivation 62 6.2 Basic Approach 67 6.3 Trimming an Offset Curve using the BVH 70 6.4 Trimming an Offset Surface using the BVH 75 6.4.1 Offset Surface BVH 75 6.4.2 Finding Self-intersections in Offset Surface Using BVH 87 6.4.3 Tracing Self-intersection Curves 98 6.5 Experimental Results 100 6.6 Summary 106 7. Application of Trimming Offset Surfaces: 3D Voronoi Diagram 107 7.1 Background 107 7.2 Approach 110 7.3 Experimental Results 112 7.4 Summary 114 8. Conclusion 119 Bibliography iDocto

A Parametric Approach to 3D Dynamic Geometry

Dynamic geometry systems are computer applications allowing the exact on-screen drawing of geometric diagrams and their interactive manipulation by mouse dragging. Whereas there exists an extensive list of 2D dynamic geometry environments, the number of 3D systems is reduced. Most of them, both in 2D and 3D, share a common approach, using numerical data to manage geometric knowledge and elementary methods to compute derived objects. This paper deals with a parametric approach for automatic management of 3D Euclidean constructions. An open source library, implementing the core functions in a 3D dynamic geometry system, is described here. The library deals with constructions by using symbolic parameters, thus enabling a full algebraic knowledge about objects such as loci and envelopes. This parametric approach is also a prerequisite for performing automatic proof. Basic functions are defined for symbolically checking the truth of statements. Using recent results from the theory of parametric polynomial systems solving, the bottleneck in the automatic determination of geometric loci and envelopes is solved. As far as we know, there is no comparable library in the 3D case, except the paramGeo3D library (designed for computing equations of simple 3D geometric objects, which, however, lacks specific functions for finding loci and envelopes)