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In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length of the sides or included angles. Moreover, the shape of…
There is a high demand of space-efficient algorithms in built-in or embedded softwares. In this paper, we consider the problem of designing space-efficient algorithms for computing the maximum area empty rectangle (MER) among a set of…
In this paper, we investigate optimization problems with nonnegative and orthogonal constraints, where any feasible matrix of size $n \times p$ exhibits a sparsity pattern such that each row accommodates at most one nonzero entry. Our…
Given a set $S$ of $n$ line segments in the plane, we say that a region $\mathcal{R}\subseteq \mathbb{R}^2$ is a {\em stabber} for $S$ if $\mathcal{R}$ contains exactly one endpoint of each segment of $S$. In this paper we provide optimal…
We present a data-structure for orthogonal range searching for random points in the plane. The new data-structure uses (in expectation) $O\bigl(n \log n ( \log \log n)^2 \bigr)$ space, and answers emptiness queries in constant time. As a…
In this paper we study the four-dimensional dominance range reporting problem and present data structures with linear or almost-linear space usage. Our results can be also used to answer four-dimensional queries that are bounded on five…
We present new results on a number of fundamental problems about dynamic geometric data structures: 1. We describe the first fully dynamic data structures with sublinear amortized update time for maintaining (i) the number of vertices or…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
We study dynamic planar point location in the External Memory Model or Disk Access Model (DAM). Previous work in this model achieves polylog query and polylog amortized update time. We present a data structure with $O( \log_B^2 N)$ query…
In the static retrieval problem, a data structure must answer retrieval queries mapping a set of $n$ keys in a universe $[U]$ to $v$-bit values. Information-theoretically, retrieval data structures can use as little as $nv$ bits of space.…
A planar orthogonal drawing $\Gamma$ of a planar graph $G$ is a geometric representation of $G$ such that the vertices are drawn as distinct points of the plane, the edges are drawn as chains of horizontal and vertical segments, and no two…
The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…
Let $\mathcal{P}$ be a set of $h$ pairwise-disjoint polygonal obstacles with a total of $n$ vertices in the plane. We consider the problem of building a data structure that can quickly compute an $L_1$ shortest obstacle-avoiding path…
We present the first fully dynamic worst case I/O-efficient data structures that support planar orthogonal \textit{3-sided range skyline reporting queries} in $\bigO (\log_{2B^\epsilon} n + \frac{t}{B^{1-\epsilon}})$ I/Os and updates in…
Given a set of $n$ points (sites) inside a rectangle $R$ and $n$ points (label locations or ports) on its boundary, a boundary labeling problem seeks ways of connecting every site to a distinct port while achieving different labeling…
Geometric data structures have been extensively studied in the regime where the dimension is much smaller than the number of input points. But in many scenarios in Machine Learning, the dimension can be much higher than the number of points…
In the range closest pair problem, we want to construct a data structure storing a set $S$ of $n$ points in the plane, such that for any axes-parallel query rectangle $R$, the closest pair in the set $R \cap S$ can be reported. The…
We propose a dynamic data structure for the distribution-sensitive point location problem. Suppose that there is a fixed query distribution in $\mathbb{R}^2$, and we are given an oracle that can return in $O(1)$ time the probability of a…
A data structure is presented for point location in connected planar subdivisions when the distribution of queries is known in advance. The data structure has an expected query time that is within a constant factor of optimal. More…
Facility location problems are captivating both from theoretical and practical point of view. In this paper, we study some fundamental facility location problems from the space-efficient perspective. Here the input is considered to be given…