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Effectiveness of landmark analysis for establishing locality in p2p networks
Locality to other nodes on a peer-to-peer overlay network can be established by means of a set of landmarks shared among the participating nodes. Each node independently collects a set of latency measures to landmark nodes, which are used as a multi-dimensional feature vector. Each peer node uses the feature vector to generate a unique scalar index which is correlated to its topological locality. A popular dimensionality reduction technique is the space filling Hilbert’s curve, as it possesses good locality
preserving properties. However, there exists little comparison between Hilbert’s curve and other techniques for dimensionality reduction. This work carries out a quantitative analysis of their properties. Linear and non-linear techniques for scaling the landmark vectors to a single dimension are investigated. Hilbert’s curve, Sammon’s mapping and Principal Component Analysis
have been used to generate a 1d space with locality preserving properties. This work provides empirical evidence to support the use of Hilbert’s curve in the context of locality preservation when generating peer identifiers by means of landmark vector analysis. A comparative analysis is carried out with an artificial 2d network model and with a realistic network topology model
with a typical power-law distribution of node connectivity in the Internet. Nearest neighbour analysis confirms Hilbert’s curve to be very effective in both artificial and realistic network topologies. Nevertheless, the results in the realistic network model show that there is scope for improvements and better techniques to preserve locality information are required
CNN for Very Fast Ground Segmentation in Velodyne LiDAR Data
This paper presents a novel method for ground segmentation in Velodyne point
clouds. We propose an encoding of sparse 3D data from the Velodyne sensor
suitable for training a convolutional neural network (CNN). This general
purpose approach is used for segmentation of the sparse point cloud into ground
and non-ground points. The LiDAR data are represented as a multi-channel 2D
signal where the horizontal axis corresponds to the rotation angle and the
vertical axis the indexes channels (i.e. laser beams). Multiple topologies of
relatively shallow CNNs (i.e. 3-5 convolutional layers) are trained and
evaluated using a manually annotated dataset we prepared. The results show
significant improvement of performance over the state-of-the-art method by
Zhang et al. in terms of speed and also minor improvements in terms of
accuracy.Comment: ICRA 2018 submissio
A Prehistory of n-Categorical Physics
This paper traces the growing role of categories and n-categories in physics,
starting with groups and their role in relativity, and leading up to more
sophisticated concepts which manifest themselves in Feynman diagrams, spin
networks, string theory, loop quantum gravity, and topological quantum field
theory. Our chronology ends around 2000, with just a taste of later
developments such as open-closed topological string theory, the
categorification of quantum groups, Khovanov homology, and Lurie's work on the
classification of topological quantum field theories.Comment: 129 pages, 8 eps figure
Network Topology Mapping from Partial Virtual Coordinates and Graph Geodesics
For many important network types (e.g., sensor networks in complex harsh
environments and social networks) physical coordinate systems (e.g.,
Cartesian), and physical distances (e.g., Euclidean), are either difficult to
discern or inapplicable. Accordingly, coordinate systems and characterizations
based on hop-distance measurements, such as Topology Preserving Maps (TPMs) and
Virtual-Coordinate (VC) systems are attractive alternatives to Cartesian
coordinates for many network algorithms. Herein, we present an approach to
recover geometric and topological properties of a network with a small set of
distance measurements. In particular, our approach is a combination of shortest
path (often called geodesic) recovery concepts and low-rank matrix completion,
generalized to the case of hop-distances in graphs. Results for sensor networks
embedded in 2-D and 3-D spaces, as well as a social networks, indicates that
the method can accurately capture the network connectivity with a small set of
measurements. TPM generation can now also be based on various context
appropriate measurements or VC systems, as long as they characterize different
nodes by distances to small sets of random nodes (instead of a set of global
anchors). The proposed method is a significant generalization that allows the
topology to be extracted from a random set of graph shortest paths, making it
applicable in contexts such as social networks where VC generation may not be
possible.Comment: 17 pages, 9 figures. arXiv admin note: substantial text overlap with
arXiv:1712.1006
Indirect Image Registration with Large Diffeomorphic Deformations
The paper adapts the large deformation diffeomorphic metric mapping framework
for image registration to the indirect setting where a template is registered
against a target that is given through indirect noisy observations. The
registration uses diffeomorphisms that transform the template through a (group)
action. These diffeomorphisms are generated by solving a flow equation that is
defined by a velocity field with certain regularity. The theoretical analysis
includes a proof that indirect image registration has solutions (existence)
that are stable and that converge as the data error tends so zero, so it
becomes a well-defined regularization method. The paper concludes with examples
of indirect image registration in 2D tomography with very sparse and/or highly
noisy data.Comment: 43 pages, 4 figures, 1 table; revise
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