Accurate and Efficient Expression Evaluation and Linear Algebra

We survey and unify recent results on the existence of accurate algorithms for evaluating multivariate polynomials, and more generally for accurate numerical linear algebra with structured matrices. By "accurate" we mean that the computed answer has relative error less than 1, i.e., has some correct leading digits. We also address efficiency, by which we mean algorithms that run in polynomial time in the size of the input. Our results will depend strongly on the model of arithmetic: Most of our results will use the so-called Traditional Model (TM). We give a set of necessary and sufficient conditions to decide whether a high accuracy algorithm exists in the TM, and describe progress toward a decision procedure that will take any problem and provide either a high accuracy algorithm or a proof that none exists. When no accurate algorithm exists in the TM, it is natural to extend the set of available accurate operations by a library of additional operations, such as $x+y+z$, dot products, or indeed any enumerable set which could then be used to build further accurate algorithms. We show how our accurate algorithms and decision procedure for finding them extend to this case. Finally, we address other models of arithmetic, and the relationship between (im)possibility in the TM and (in)efficient algorithms operating on numbers represented as bit strings.Comment: 49 pages, 6 figures, 1 tabl

The Double Sphere Camera Model

Vision-based motion estimation and 3D reconstruction, which have numerous applications (e.g., autonomous driving, navigation systems for airborne devices and augmented reality) are receiving significant research attention. To increase the accuracy and robustness, several researchers have recently demonstrated the benefit of using large field-of-view cameras for such applications. In this paper, we provide an extensive review of existing models for large field-of-view cameras. For each model we provide projection and unprojection functions and the subspace of points that result in valid projection. Then, we propose the Double Sphere camera model that well fits with large field-of-view lenses, is computationally inexpensive and has a closed-form inverse. We evaluate the model using a calibration dataset with several different lenses and compare the models using the metrics that are relevant for Visual Odometry, i.e., reprojection error, as well as computation time for projection and unprojection functions and their Jacobians. We also provide qualitative results and discuss the performance of all models

RG flows of Quantum Einstein Gravity on maximally symmetric spaces

We use the Wetterich-equation to study the renormalization group flow of $f(R)$-gravity in a three-dimensional, conformally reduced setting. Building on the exact heat kernel for maximally symmetric spaces, we obtain a partial differential equation which captures the scale-dependence of $f(R)$ for positive and, for the first time, negative scalar curvature. The effects of different background topologies are studied in detail and it is shown that they affect the gravitational RG flow in a way that is not visible in finite-dimensional truncations. Thus, while featuring local background independence, the functional renormalization group equation is sensitive to the topological properties of the background. The detailed analytical and numerical analysis of the partial differential equation reveals two globally well-defined fixed functionals with at most a finite number of relevant deformations. Their properties are remarkably similar to two of the fixed points identified within the $R^2$-truncation of full Quantum Einstein Gravity. As a byproduct, we obtain a nice illustration of how the functional renormalization group realizes the "integrating out" of fluctuation modes on the three-sphere.Comment: 35 pages, 6 figure

Toward accurate polynomial evaluation in rounded arithmetic

Given a multivariate real (or complex) polynomial $p$ and a domain $\cal D$, we would like to decide whether an algorithm exists to evaluate $p(x)$ accurately for all $x \in {\cal D}$ using rounded real (or complex) arithmetic. Here ``accurately'' means with relative error less than 1, i.e., with some correct leading digits. The answer depends on the model of rounded arithmetic: We assume that for any arithmetic operator $op(a,b)$, for example $a+b$ or $a \cdot b$, its computed value is $op(a,b) \cdot (1 + \delta)$, where $| \delta |$ is bounded by some constant $\epsilon$ where $0 < \epsilon \ll 1$, but $\delta$ is otherwise arbitrary. This model is the traditional one used to analyze the accuracy of floating point algorithms.Our ultimate goal is to establish a decision procedure that, for any $p$ and $\cal D$, either exhibits an accurate algorithm or proves that none exists. In contrast to the case where numbers are stored and manipulated as finite bit strings (e.g., as floating point numbers or rational numbers) we show that some polynomials $p$ are impossible to evaluate accurately. The existence of an accurate algorithm will depend not just on $p$ and $\cal D$, but on which arithmetic operators and which constants are are available and whether branching is permitted. Toward this goal, we present necessary conditions on $p$ for it to be accurately evaluable on open real or complex domains ${\cal D}$. We also give sufficient conditions, and describe progress toward a complete decision procedure. We do present a complete decision procedure for homogeneous polynomials $p$ with integer coefficients, {\cal D} = \C^n, and using only the arithmetic operations $+$, $-$ and $\cdot$.Comment: 54 pages, 6 figures; refereed version; to appear in Foundations of Computational Mathematics: Santander 2005, Cambridge University Press, March 200