TL;DR: In this paper, the authors describe a general purpose representation independent method for the accurate and computationally efficient registration of 3D shapes including free-form curves and surfaces, based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point.
Abstract: This paper describes a general purpose, representation independent method for the accurate and computationally efficient registration of 3-D shapes including free-form curves and surfaces. The method handles the full six-degrees of freedom and is based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point. The ICP algorithm always converges monotonically to the nearest local minimum of a mean-square distance metric, and experience shows that the rate of convergence is rapid during the first few iterations. Therefore, given an adequate set of initial rotations and translations for a particular class of objects with a certain level of 'shape complexity', one can globally minimize the mean-square distance metric over all six degrees of freedom by testing each initial registration. For examples, a given 'model' shape and a sensed 'data' shape that represents a major portion of the model shape can be registered in minutes by testing one initial translation and a relatively small set of rotations to allow for the given level of model complexity. One important application of this method is to register sensed data from unfixtured rigid objects with an ideal geometric model prior to shape inspection. The described method is also useful for deciding fundamental issues such as the congruence (shape equivalence) of different geometric representations as well as for estimating the motion between point sets where the correspondences are not known. Experimental results show the capabilities of the registration algorithm on point sets, curves, and surfaces.
TL;DR: It is shown that even approximating the minimum number of variables that need to be affected within a multiplicative factor of clog n is NP-hard for some positive c, and that it is possible to find sets of variables matching this in approximability barrier in polynomial time.
Abstract: Given a linear system, we consider the problem of finding a small set of variables to affect with an input so that the resulting system is controllable. We show that this problem is NP-hard; indeed, we show that even approximating the minimum number of variables that need to be affected within a multiplicative factor of clog n is NP-hard for some positive c. On the positive side, we show it is possible to find sets of variables matching this in approximability barrier in polynomial time. This can be done with a simple greedy heuristic which sequentially picks variables to maximize the rank increase of the controllability matrix. Experiments on Erdos-Renyi random graphs that demonstrate this heuristic almost always succeed at finding the minimum number of variables.
TL;DR: This work investigates the connection between Graph Expansion and the Unique Games Conjecture and shows that under a slightly stronger UGC that assumes mild expansion of small sets, it is UG-hard to approximate small set expansion.
Abstract: The edge expansion of a subset of vertices S ⊆ V in a graph G measures the fraction of edges that leave S. In a d-regular graph, the edge expansion/conductance Φ(S) of a subset S ⊆ V is defined as Φ(S) = (|E(S, V\S)|)/(d|S|). Approximating the conductance of small linear sized sets (size δ n) is a natural optimization question that is a variant of the well-studied Sparsest Cut problem. However, there are no known algorithms to even distinguish between almost complete edge expansion (Φ(S) = 1-e), and close to 0 expansion. In this work, we investigate the connection between Graph Expansion and the Unique Games Conjecture. Specifically, we show the following: We show that a simple decision version of the problem of approximating small set expansion reduces to Unique Games. Thus if approximating edge expansion of small sets is hard, then Unique Games is hard. Alternatively, a refutation of the UGC will yield better algorithms to approximate edge expansion in graphs. This is the first non-trivial "reverse" reduction from a natural optimization problem to Unique Games. Under a slightly stronger UGC that assumes mild expansion of small sets, we show that it is UG-hard to approximate small set expansion. On instances with sufficiently good expansion of small sets, we show that Unique Games is easy by extending the techniques of [4].
TL;DR: A method that uses Noisy-OR gates to reduce the data requirements in learning conditional probabilities in Bayesian networks is proposed and tested on a model for diagnosis of liver disorders, whose parameters are extracted from a real, small set of patient records.
TL;DR: Bakhtin and Mattingly as discussed by the authors proved unique ergodicity under minimal assumptions on one hand and the existence of a spectral gap under conditions reminiscent of Harris' theorem.
Abstract: There are many Markov chains on infinite dimensional spaces whose one-step transition kernels are mutually singular when starting from different initial conditions. We give results which prove unique ergodicity under minimal assumptions on one hand and the existence of a spectral gap under conditions reminiscent of Harris’ theorem. The first uses the existence of couplings which draw the solutions together as time goes to infinity. Such “asymptotic couplings” were central to (Mattingly and Sinai in Comm Math Phys 219(3):523–565, 2001; Mattingly in Comm Math Phys 230(3):461–462, 2002; Hairer in Prob Theory Relat Field 124:345–380, 2002; Bakhtin and Mattingly in Commun Contemp Math 7:553–582, 2005) on which this work builds. As in Bakhtin and Mattingly (2005) the emphasis here is on stochastic differential delay equations. Harris’ celebrated theorem states that if a Markov chain admits a Lyapunov function whose level sets are “small” (in the sense that transition probabilities are uniformly bounded from below), then it admits a unique invariant measure and transition probabilities converge towards it at exponential speed. This convergence takes place in a total variation norm, weighted by the Lyapunov function. A second aim of this article is to replace the notion of a “small set” by the much weaker notion of a “d-small set,” which takes the topology of the underlying space into account via a distance-like function d. With this notion at hand, we prove an analogue to Harris’ theorem, where the convergence takes place in a Wasserstein-like distance weighted again by the Lyapunov function. This abstract result is then applied to the framework of stochastic delay equations. In this framework, the usual theory of Harris chains does not apply, since there are natural examples for which there exist no small sets (except for sets consisting of only one point). This gives a solution to the long-standing open problem of finding natural conditions under which a stochastic delay equation admits at most one invariant measure and transition probabilities converge to it.