Labeling Points with Weights

Annotating maps, graphs, and diagrams with pieces of text is an important step in information visualization that is usually referred to as label placement. We define nine label-placement models for labeling points with axis-parallel rectangles given a weight for each point. There are two groups: fixed-position models and slider models. We aim to maximize the weight sum of those points that receive a label. We first compare our models by giving bounds for the ratios between the weights of maximum-weight labelings in different models. Then we present algorithms for labeling n points with unit-height rectangles. We show how an O(n\log n)-time factor-2 approximation algorithm and a PTAS for fixed-position models can be extended to handle the weighted case. Our main contribution is the first algorithm for weighted sliding labels. Its approximation factor is (2+\varepsilon), it runs in O(n ²/\varepsilon) time and uses O(n/\varepsilon) space. We show that other than for fixed-position models even the projection to one dimension remains NP-hard. For slider models we also investigate some special cases, namely (a) the number of different point weights is bounded, (b) all labels are unit squares, and (c) the ratio between maximum and minimum label height is bounded.     

Optimal point removal in closed-2PM labeling

An optimal labeling where labels are disjoint axis-parallel equal-size squares is called 2PM labeling if the labels have maximum length each attached to its corresponding point on the middle of one of its horizontal edges. In a closed-2PM labeling, no two edges of labels containing points should intersect. Removing one point and its label, makes free room for its adjacent labels and may cause a global label expansion. In this paper, we construct several data structures in the preprocessing stage, so that any point removal event is handled efficiently. We present an algorithm which decides in O(lgn) amortized time whether a label removal leads to label expansion in which case a new optimal labeling for the remaining points is generated in O(n) amortized time.     

Labeling Schemes for Dynamic Tree Networks

Distance labeling schemes are composed of a marker algorithm for labeling the vertices of a graph with short labels, coupled with a decoder algorithm allowing one to compute the distance between any two vertices directly from their labels (without using any additional information). As applications for distance labeling schemes concern mainly large and dynamically changing networks, it is of interest to study distributed dynamic labeling schemes. The current paper considers the problem on dynamic trees, and proposes efficient distributed schemes for it. The paper first presents a labeling scheme for distances in the dynamic tree model, with amortized message complexity O(log² n) per operation, where n is the size of the tree at the time the operation takes place. The protocol maintains O(log² n) bit labels. This label size is known to be optimal even in the static scenario. A more general labeling scheme is then introduced for the dynamic tree model, based on extending an existing static tree labeling scheme to the dynamic setting. The approach fits a number of natural tree functions, such as distance, separation level, and flow. The main resulting scheme incurs an overhead of an O(log n) multiplicative factor in both the label size and amortized message complexity in the case of dynamically growing trees (with no vertex deletions). If an upper bound on n is known in advance, this method yields a different tradeoff, with an O(log² n/log log n) multiplicative overhead on the label size but only an O(log n/log log n) overhead on the amortized message complexity. In the fully dynamic model the scheme also incurs an increased additive overhead in amortized communication, of O(log² n) messages per operation.     

Practical Extensions of Point Labeling in the Slider Model*

This paper extends research by the authors together with Alexander Wolff on point label placement using a model where labels can be placed at any position that touches the point (the slider model). Such models have been shown to perform better than methods that allow only a fixed number of positions per label. The novelties in this paper include respecting other map features that must be avoided by the labels, and incorporating labels with different height. The result is an efficient and simple O((n+m)log(n+m)) time algorithm with a performance guarantee for label placement in the slider model. Here n is the number of points to be labeled and m is the combinatorial complexity of the map features that must be avoided. Due to its efficiency, the algorithm can be used in interactive and on-line mapping.     

Informative labeling schemes for graphs

This paper introduces the notion of informative labeling schemes for arbitrary graphs. Let f(W) be a function on subsets of vertices W. An f labeling scheme labels the vertices of a weighted graph G in such a way that f(W) can be inferred (or at least approximated) efficiently for any vertex subset W of G by merely inspecting the labels of the vertices of W, without having to use any additional information sources.A number of results illustrating this notion are presented in the paper. We begin by developing f labeling schemes for three functions f over the class of n-vertex trees. The first function, SepLevel, gives the separation level of any two vertices in the tree, namely, the depth of their least common ancestor. The second, LCA, provides the least common ancestor of any two vertices. The third, Center, yields the center of any three given vertices v₁,v₂,v₃ in the tree, namely, the unique vertex z connected to them by three edge-disjoint paths. All of these three labeling schemes use O-bit labels, which is shown to be asymptotically optimal.Our main results concern the function Steiner(W), defined for weighted graphs. For any vertex subset W in the weighted graph G, Steiner(W) represents the weight of the Steiner tree spanning the vertices of W in G. Considering the class of n-vertex trees with M-bit edge weights, it is shown that for this class there exists a Steiner labeling scheme using O((M+logn)logn) bit labels, which is asymptotically optimal. It is then shown that for the class of arbitrary n-vertex graphs with M-bit edge weights, there exists an approximate-Steiner labeling scheme, providing an estimate (up to a factor of O(logn)) for the Steiner weight Steiner(W) of a given set of vertices W, using O bit labels.     

Labeling schemes for weighted dynamic trees

A Distance labeling scheme is a type of localized network representation in which short labels are assigned to the vertices, allowing one to infer the distance between any two vertices directly from their labels, without using any additional information sources. As most applications for network representations in general, and distance labeling schemes in particular, concern large and dynamically changing networks, it is of interest to focus on distributed dynamic labeling schemes. The paper considers dynamic weighted trees where the vertices of the trees are fixed but the (positive integral) weights of the edges may change. The two models considered are the edge-dynamic model, where from time to time some edge changes its weight by a fixed quanta, and the increasing-dynamic model in which edge weights can only grow. The paper presents distributed approximate distance labeling schemes for the two dynamic models, which are efficient in terms of the required label size and communication complexity involved in updating the labels following the weight changes.     

Approximating Tree Edit Distance through String Edit Distance

We present an algorithm to approximate edit distance between two ordered and rooted trees of bounded degree. In this algorithm, each input tree is transformed into a string by computing the Euler string, where labels of some edges in the input trees are modified so that structures of small subtrees are reflected to the labels. We show that the edit distance between trees is at least 1/6 and at most O(n ^3/4) of the edit distance between the transformed strings, where n is the maximum size of two input trees and we assume unit cost edit operations for both trees and strings. The algorithm works in O(n ²) time since computation of edit distance and reconstruction of tree mapping from string alignment takes O(n ²) time though transformation itself can be done in O(n) time.     

Incremental labeling in closed-2PM model

We consider an incremental optimal label placement in a closed-2PM map containing points each attached with a label. Labels are assumed to be axis-parallel square-shaped and have to be pairwise disjoint with maximum possible length each attached to its corresponding point on one of its horizontal edges. Such a labeling is denoted as optimal labeling. Our goal is to efficiently generate a new optimal labeling for all points after each new point being inserted in the map. Inserting each point may require several labels to flip or all labels to shrink. We present an algorithm that generates each new optimal labeling in O(lgn+k) time where k is the number of required label flips, if there is no need to shrink the label lengths, or in O(n) time when we have to shrink the labels and flip some of them. The algorithm uses O(n) space in both cases. This is a new result on this problem.     

Compact separator decompositions in dynamic trees and applications to labeling schemes

This paper presents an efficient scheme maintaining a separator decomposition representation in dynamic trees using asymptotically optimal labels. In order to maintain the short labels, the scheme uses relatively low message complexity. In particular, if the initial dynamic tree contains only the root, then the scheme incurs an O(log⁴ n) amortized message complexity per topology change, where n is the current number of vertices in the tree. As a separator decomposition is a fundamental decomposition of trees used extensively as a component in many static graph algorithms, our dynamic scheme for separator decomposition may be used for constructing dynamic versions to these algorithms. The paper then shows how to use our dynamic separator decomposition to construct efficient labeling schemes on dynamic trees, using the same message complexity as our dynamic separator scheme. Specifically, we construct efficient routing schemes on dynamic trees, for both the designer and the adversary port models, which maintain optimal labels, up to a multiplicative factor of O(log log n). In addition, it is shown how to use our dynamic separator decomposition scheme to construct dynamic labeling schemes supporting the ancestry and NCA relations using asymptotically optimal labels, as well as to extend a known result on dynamic distance labeling schemes. Supported in part at the Technion by an Aly Kaufman fellowship. Supported in part by a grant from the Israel Science Foundation.     

Identifying rectangles in laser range data for urban scene reconstruction

In urban scenes, many of the surfaces are planar and bounded by simple shapes. In a laser scan of such a scene, these simple shapes can still be identified. We present a one-parameter algorithm that can identify point sets on a plane for which a rectangle is a fitting boundary. These rectangles have a guaranteed density: no large part of the rectangle is empty of points. We prove that our algorithm identifies all angles for which a rectangle fits the point set of size n in O(nlogn) time. We evaluate our method experimentally on 13 urban data sets and we compare the rectangles found by our algorithm to the α‐shape as a surface boundary.     

EP<Emphasis Type="Italic">n</Emphasis>P: An Accurate <Emphasis Type="Italic">O</Emphasis>(<Emphasis Type="Italic">n</Emphasis>) Solution to the P<Emphasis Type="Italic">n</Emphasis>P Problem

We propose a non-iterative solution to the PnP problem—the estimation of the pose of a calibrated camera from n 3D-to-2D point correspondences—whose computational complexity grows linearly with n. This is in contrast to state-of-the-art methods that are O(n ⁵) or even O(n ⁸), without being more accurate. Our method is applicable for all n≥4 and handles properly both planar and non-planar configurations. Our central idea is to express the n 3D points as a weighted sum of four virtual control points. The problem then reduces to estimating the coordinates of these control points in the camera referential, which can be done in O(n) time by expressing these coordinates as weighted sum of the eigenvectors of a 12×12 matrix and solving a small constant number of quadratic equations to pick the right weights. Furthermore, if maximal precision is required, the output of the closed-form solution can be used to initialize a Gauss-Newton scheme, which improves accuracy with negligible amount of additional time. The advantages of our method are demonstrated by thorough testing on both synthetic and real-data.     

Parallel computational geometry of rectangles

Rectangles in a plane provide a very useful abstraction for a number of problems in diverse fields. In this paper we consider the problem of computing geometric properties of a set of rectangles in the plane. We give parallel algorithms for a number of problems usingn processors wheren is the number of upright rectangles. Specifically, we present algorithms for computing the area, perimeter, eccentricity, and moment of inertia of the region covered by the rectangles inO(logn) time. We also present algorithms for computing the maximum clique and connected components of the rectangles inO(logn) time. Finally, we give algorithms for finding the entire contour of the rectangles and the medial axis representation of a givenn × n binary image inO(n) time. Our results are faster than previous results and optimal (to within a constant factor).The work of Sung Kwan Kim was supported by NSF Grant CCR-87-03196 and the work of D. M. Mount was partially supported by National Science Foundation Grant CCR-89-08901.     

On heuristics for minimum length rectilinear partitions

The problem of partitioning a rectilinear figure into rectangles with minimum length is NP-hard and has bounded heuristics. In this paper we study a related problem,Elimination Problem (EP), in which a rectilinear figure is partitioned into a set of rectilinear figures containing no concave vertices of a fixed direction with minimum length. We show that a heuristic for EP within a factor of 4 from optimal can be computed in timeO(n ²), wheren is the number of vertices of the input figure, and a variant of this heuristic, within a factor of 6 from optimal, can be computed in timeO(n logn). As an application, we give a bounded heuristic for the problem of partitioning a rectilinear figure into histograms of a fixed direction with minimum length.An auxiliary result is that an optimal rectangular partition of a monotonic histogram can be computed in timeO(n ²), using a known speed-up technique in dynamic programming.Part of this work was done when the first author was a postdoctor fellow in MSRI, Berkeley, and supported in part by NSF Grant No. 8120790. The second author was supported in part by NSF Grant No. DCR-8411945.     

Using quadratic programming to solve high multiplicity scheduling problems on parallel machines

We introduce and analyze several models of schedulingn different types (groups) of jobs onm parallel machines, where in each group all jobs are identical. Our main goal is to exhibit the usefulness of quadratic programming approaches to solve these classes of high multiplicity scheduling problems, with the total weighted completion time as the minimization criterion. We develop polynomial algorithms for some models, and strongly polynomial algorithms for certain special cases. In particular, the model in which the weights are job independent, as well as the generally weighted model in which processing requirements are job independent, can be formulated as an integer convex separable quadratic cost flow problem, and therefore solved in polynomial time. When we specialize further, strongly polynomial bounds are achievable. Specifically, for the weighted model with job-independent processing requirements if we restrict the weights to be machine independent (while still assuming different machine speeds), anO(mn+n logn) algorithm is developed. If it is also assumed that all the machines have the same speed, the complexity of the algorithm can be improved toO(m logm+n logn). These results can be extended to related unweighted models with variable processing requirements in which all the machines are available at time zero. The research of Frieda Granot was partially supported by Natural Sciences and Engineering Research Council of Canada Grant 5-83998. The research of Jadranka Skorin-Kapov was partially supported by National Science Foundation Grant DDM-8909206.     

Covering a set of points in a plane using two parallel rectangles

In this paper we consider the problem of finding two parallel rectangles in arbitrary orientation for covering a given set of n points in a plane, such that the area of the larger rectangle is minimized. We propose an algorithm that solves the problem in O(n³) time using O(n²) space. Without altering the complexity, our approach can be used to solve another optimization problem namely, minimize the sum of the areas of two arbitrarily oriented parallel rectangles covering a given set of points in a plane.     

A new algorithm for the largest empty rectangle problem

A rectangleA and a setS ofn points inA are given. We present a new simple algorithm for the so-called largest empty rectangle problem, i.e., the problem of finding a maximum area rectangle contained inA and not containing any point ofS in its interior. The computational complexity of the presented algorithm isO(n logn + s), where s is the number of possible restricted rectangles considered. Moreover, the expected performance isO(n · logn).     

Trimming of Graphs, with Application to Point Labeling

For t>0 and g≥0, a vertex-weighted graph of total weight W is (t,g)-trimmable if it contains a vertex-induced subgraph of total weight at least (1−1/t)W and with no simple path of more than g edges. A family of graphs is trimmable if for every constant t>0, there is a constant g≥0 such that every vertex-weighted graph in the family is (t,g)-trimmable. We show that every family of graphs of bounded domino treewidth is trimmable. This implies that every family of graphs of bounded degree is trimmable if the graphs in the family have bounded treewidth or are planar. We also show that every family of directed graphs of bounded layer bandwidth (a less restrictive condition than bounded directed bandwidth) is trimmable. As an application of these results, we derive polynomial-time approximation schemes for various forms of the problem of labeling a subset of given weighted point features with nonoverlapping sliding axes-parallel rectangular labels so as to maximize the total weight of the labeled features, provided that the ratios of label heights or the ratios of label lengths are bounded by a constant. This settles one of the last major open questions in the theory of map labeling.     

Parallel computational geometry of rectangles

Rectangles in a plane provide a very useful abstraction for a number of problems in diverse fields. In this paper we consider the problem of computing geometric properties of a set of rectangles in the plane. We give parallel algorithms for a number of problems usingn processors wheren is the number of upright rectangles. Specifically, we present algorithms for computing the area, perimeter, eccentricity, and moment of inertia of the region covered by the rectangles inO(logn) time. We also present algorithms for computing the maximum clique and connected components of the rectangles inO(logn) time. Finally, we give algorithms for finding the entire contour of the rectangles and the medial axis representation of a givenn × n binary image inO(n) time. Our results are faster than previous results and optimal (to within a constant factor).     

Efficient Graph-Theoretic Algorithms on a Linear Array with a Reconfigurable Pipelined Bus System

We present efficient algorithms for solving several fundamental graph-theoretic problems on a Linear Array with a Reconfigurable Pipelined Bus System (LARPBS), one of the recently proposed models of computation based on optical buses. Our algorithms include finding connected components, minimum spanning forest, biconnected components, bridges and articulation points for an undirected graph. We compute the connected components and minimum spanning forest of a graph in O(log n) time using O(m+n) processors where m and n are the number of edges and vertices in the graph and m=O(n ²) for a dense graph. Both the processor and time complexities of these two algorithms match the complexities of algorithms on the Arbitrary and Priority CRCW PRAM models which are two of the strongest PRAM models. The algorithms for these two problems published by Li et al. [7] have been considered to be the most efficient on the LARPBS model till now. Their algorithm [7] for these two problems require O(log n) time and O(n ³/log n) processors. Hence, our algorithms have the same time complexity but require less processors. Our algorithms for computing biconnected components, bridges and articulation points of a graph run in O(log n) time on an LARPBS with O(n ²) processors. No previous algorithm was known for these latter problems on the LARPBS.     

A note on exact distance labeling

We show that the vertices of an edge-weighted undirected graph can be labeled with labels of size O(n) such that the exact distance between any two vertices can be inferred from their labels alone in time. This improves the previous best exact distance labeling scheme that also requires O(n)-sized labels but time to compute the distance. Our scheme is almost optimal as exact distance labeling is known to require labels of length Ω(n).