Polychromatic Coloring for Half-Planes

We prove that for every integer $k$, every finite set of points in the plane can be $k$-colored so that every half-plane that contains at least $2k-1$ points, also contains at least one point from every color class. We also show that the bound $2k-1$ is best possible. This improves the best previously known lower and upper bounds of $\frac{4}{3}k$ and $4k-1$ respectively. We also show that every finite set of half-planes can be $k$ colored so that if a point $p$ belongs to a subset $H_p$ of at least $3k-2$ of the half-planes then $H_p$ contains a half-plane from every color class. This improves the best previously known upper bound of $8k-3$. Another corollary of our first result is a new proof of the existence of small size \eps-nets for points in the plane with respect to half-planes.Comment: 11 pages, 5 figure

On infinite-finite duality pairs of directed graphs

The (A,D) duality pairs play crucial role in the theory of general relational structures and in the Constraint Satisfaction Problem. The case where both classes are finite is fully characterized. The case when both side are infinite seems to be very complex. It is also known that no finite-infinite duality pair is possible if we make the additional restriction that both classes are antichains. In this paper (which is the first one of a series) we start the detailed study of the infinite-finite case. Here we concentrate on directed graphs. We prove some elementary properties of the infinite-finite duality pairs, including lower and upper bounds on the size of D, and show that the elements of A must be equivalent to forests if A is an antichain. Then we construct instructive examples, where the elements of A are paths or trees. Note that the existence of infinite-finite antichain dualities was not previously known

Photometric single-view dense 3D reconstruction in endoscopy

Visual SLAM inside the human body will open the way to computer-assisted navigation in endoscopy. However, due to space limitations, medical endoscopes only provide monocular images, leading to systems lacking true scale. In this paper, we exploit the controlled lighting in colonoscopy to achieve the first in-vivo 3D reconstruction of the human colon using photometric stereo on a calibrated monocular endoscope. Our method works in a real medical environment, providing both a suitable in-place calibration procedure and a depth estimation technique adapted to the colon's tubular geometry. We validate our method on simulated colonoscopies, obtaining a mean error of 7% on depth estimation, which is below 3 mm on average. Our qualitative results on the EndoMapper dataset show that the method is able to correctly estimate the colon shape in real human colonoscopies, paving the ground for truescale monocular SLAM in endoscopy

NR-SLAM: Non-Rigid Monocular SLAM

In this paper we present NR-SLAM, a novel non-rigid monocular SLAM system founded on the combination of a Dynamic Deformation Graph with a Visco-Elastic deformation model. The former enables our system to represent the dynamics of the deforming environment as the camera explores, while the later allows us to model general deformations in a simple way. The presented system is able to automatically initialize and extend a map modeled by a sparse point cloud in deforming environments, that is refined with a sliding-window Deformable Bundle Adjustment. This map serves as base for the estimation of the camera motion and deformation and enables us to represent arbitrary surface topologies, overcoming the limitations of previous methods. To assess the performance of our system in challenging deforming scenarios, we evaluate it in several representative medical datasets. In our experiments, NR-SLAM outperforms previous deformable SLAM systems, achieving millimeter reconstruction accuracy and bringing automated medical intervention closer. For the benefit of the community, we make the source code public.Comment: 12 pages, 7 figures, submited to the IEEE Transactions on Robotics (T-RO

Unsplittable coverings in the plane

A system of sets forms an {\em $m$-fold covering} of a set $X$ if every point of $X$ belongs to at least $m$ of its members. A $1$-fold covering is called a {\em covering}. The problem of splitting multiple coverings into several coverings was motivated by classical density estimates for {\em sphere packings} as well as by the {\em planar sensor cover problem}. It has been the prevailing conjecture for 35 years (settled in many special cases) that for every plane convex body $C$, there exists a constant $m=m(C)$ such that every $m$-fold covering of the plane with translates of $C$ splits into $2$ coverings. In the present paper, it is proved that this conjecture is false for the unit disk. The proof can be generalized to construct, for every $m$, an unsplittable $m$-fold covering of the plane with translates of any open convex body $C$ which has a smooth boundary with everywhere {\em positive curvature}. Somewhat surprisingly, {\em unbounded} open convex sets $C$ do not misbehave, they satisfy the conjecture: every $3$-fold covering of any region of the plane by translates of such a set $C$ splits into two coverings. To establish this result, we prove a general coloring theorem for hypergraphs of a special type: {\em shift-chains}. We also show that there is a constant $c>0$ such that, for any positive integer $m$, every $m$-fold covering of a region with unit disks splits into two coverings, provided that every point is covered by {\em at most} $c2^{m/2}$ sets

Recognizing hyperelliptic graphs in polynomial time

Recently, a new set of multigraph parameters was defined, called "gonalities". Gonality bears some similarity to treewidth, and is a relevant graph parameter for problems in number theory and multigraph algorithms. Multigraphs of gonality 1 are trees. We consider so-called "hyperelliptic graphs" (multigraphs of gonality 2) and provide a safe and complete sets of reduction rules for such multigraphs, showing that for three of the flavors of gonality, we can recognize hyperelliptic graphs in O(n log n+m) time, where n is the number of vertices and m the number of edges of the multigraph.Comment: 33 pages, 8 figure

A semantical approach to equilibria and rationality

Game theoretic equilibria are mathematical expressions of rationality. Rational agents are used to model not only humans and their software representatives, but also organisms, populations, species and genes, interacting with each other and with the environment. Rational behaviors are achieved not only through conscious reasoning, but also through spontaneous stabilization at equilibrium points. Formal theories of rationality are usually guided by informal intuitions, which are acquired by observing some concrete economic, biological, or network processes. Treating such processes as instances of computation, we reconstruct and refine some basic notions of equilibrium and rationality from the some basic structures of computation. It is, of course, well known that equilibria arise as fixed points; the point is that semantics of computation of fixed points seems to be providing novel methods, algebraic and coalgebraic, for reasoning about them.Comment: 18 pages; Proceedings of CALCO 200