Metrics on the space of sets of trajectories are important for scientists in the field of computer vision, machine learning, robotics, and general artificial intelligence. However, existing notions of closeness between sets of trajectories are either mathematically inconsistent or of limited practical use. In this paper, we outline the limitations in the current mathematically-consistent metrics, which are based on OSPA ( 2008); and the inconsistencies in the heuristic notions of closeness used in practice, whose main ideas are common to the CLEAR MOT measures (Keni and Rainer 2008) widely used in computer vision. In two steps, we then propose a new intuitive metric between sets of trajectories and address these limitations. First, we explain a solution that leads to a metric that is hard to compute. Then we modify this formulation to obtain a metric that is easy to compute while keeping the useful properties of the previous metric. Our notion of closeness is the first demonstrating the following three features: the metric 1) can be quickly computed, 2) incorporates confusion of trajectories' identity in an optimal way, and 3) is a metric in the mathematical sense.
The association that @cite_44 use at every point in time is not one-to-one optimal like in @cite_31 or in the CLEAR MOT, rather the authors use a simple thresholding rule to associate neighboring elements of @math and @math . The idea of using a simple threshold rule to compare @math and @math seems to have survived until relatively recent. For example, in @cite_38 the authors match a full trajectory in @math to a full trajectory in @math if they are close in space for a sufficiently long time interval. The authors in @cite_6 use a similar thresholding method to match @math and @math .
@cite_44 @cite_38 @cite_31 @cite_6
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Let @math be a tree space (or tree network) represented by a weighted tree with @math vertices, and @math be a set of @math stochastic points in @math , each of which has a fixed location with an independent existence probability. We investigate two fundamental problems under such a stochastic setting, the closest-pair problem and the nearest-neighbor search. For the former, we study the computation of the @math -threshold probability and the expectation of the closest-pair distance of a realization of @math . We propose the first algorithm to compute the @math -threshold probability in @math time for any given threshold @math , which immediately results in an @math -time algorithm for computing the expected closest-pair distance. Based on this, we further show that one can compute a @math -approximation for the expected closest-pair distance in @math time, by arguing that the expected closest-pair distance can be approximated via @math threshold probability queries. For the latter, we study the @math most-likely nearest-neighbor search ( @math -LNN) via a notion called @math most-likely Voronoi Diagram ( @math -LVD). We show that the size of the @math -LVD @math of @math on @math is bounded by @math if the existence probabilities of the points in @math are constant-far from 0. Furthermore, we establish an @math average-case upper bound for the size of @math , by regarding the existence probabilities as i.i.d. random variables drawn from some fixed distribution. Our results imply the existence of an LVD data structure which answers @math -LNN queries in @math time using average-case @math space, and worst-case @math space if the existence probabilities are constant-far from 0. Finally, we also give an @math -time algorithm to construct the LVD data structure. We design new polynomials for representing threshold functions in three different regimes: probabilistic polynomials of low degree, which need far less randomness than previous constructions, polynomial threshold functions (PTFs) with "nice" threshold behavior and degree almost as low as the probabilistic polynomials, and a new notion of probabilistic PTFs where we combine the above techniques to achieve even lower degree with similar "nice" threshold behavior. Utilizing these polynomial constructions, we design faster algorithms for a variety of problems: @math Offline Hamming Nearest (and Furthest) Neighbors: Given @math red and @math blue points in @math -dimensional Hamming space for @math , we can find an (exact) nearest (or furthest) blue neighbor for every red point in randomized time @math or deterministic time @math . These also lead to faster MAX-SAT algorithms for sparse CNFs. @math Offline Approximate Nearest (and Furthest) Neighbors: Given @math red and @math blue points in @math -dimensional @math or Euclidean space, we can find a @math -approximate nearest (or furthest) blue neighbor for each red point in randomized time near @math . @math SAT Algorithms and Lower Bounds for Circuits With Linear Threshold Functions: We give a satisfiability algorithm for @math circuits with a subquadratic number of linear threshold gates on the bottom layer, and a subexponential number of gates on the other layers, that runs in deterministic @math time. This also implies new circuit lower bounds for threshold circuits. We also give a randomized @math -time SAT algorithm for subexponential-size @math circuits, where the top @math gate and middle @math gates have @math fan-in. Given a metric space @math , @math , @math , and @math , a distribution over mappings @math is called a @math -sensitive hash family if any two points in @math at distance at most @math are mapped by @math to the same value with probability at least @math , and any two points at distance greater than @math are mapped by @math to the same value with probability at most @math . This notion was introduced by Indyk and Motwani in 1998 as the basis for an efficient approximate nearest neighbor search algorithm and has since been used extensively for this purpose. The performance of these algorithms is governed by the parameter @math , and constructing hash families with small @math automatically yields improved nearest neighbor algorithms. Here we show that for @math it is impossible to achieve @math . This almost matches the construction of Indyk and Motwani which achieves @math . We look at a model of random graphs suggested by Gilbert: given an integer @math and @math , scatter @math vertices independently and uniformly on a metric space, and then add edges connecting pairs of vertices of distance less than @math apart.We consider the asymptotics when the metric space is the interval [0, 1], and @math is a function of @math , for @math . We prove that every upwards closed property of (ordered) graphs has at least a weak threshold in this model on this metric space. (But we do find a metric space on which some upwards closed properties do not even have weak thresholds in this model.) We also prove that every upwards closed property with a threshold much above connectivity's threshold has a strong threshold. (But we also find a sequence of upwards closed properties with lower thresholds that are strictly weak.)