We introduce and evaluate a very simple landmark-based network partition technique called Hierarchical Bipartition Routing (HBR) to support routing with delivery guarantee in wireless ad hoc sensor networks. It is a simple routing protocol that can easily be combined with any other greedy routing algorithm to obtain delivery guarantee. The efficiency of HBR increases if the network is sparse and contains obstacles. The space necessary to store the additional routing information at a node u is on average not larger than the size necessary to store the IDs of the neighbors of u. The amount of work to setup the complete data structure is on average proportional to flooding the entire network log(n) times, where n is the total number of sensor nodes. We evaluate the performance of HBR in combination with two simple energy-aware geographic greedy routing algorithms based on physical coordinates and virtual coordinates, respectively. Our simulations show that the difference between using HBR and a weighted shortest path to escape a dead-end is only a few percent in typical cases.
Landmark-based routing algorithms like VCap @cite_9 , JUMPS @cite_26 , GLIDER @cite_24 , VCost @cite_31 , and BVR @cite_27 use virtual coordinates computed from the distances to specific nodes called landmarks , anchors , or beacons . In the first phase, a global and distributed election mechanism elects a set of nodes acting as landmarks. Then the landmarks flood the entire network or only parts of the network such that every node can compute its virtual coordinate depending on the distances to the landmarks. The virtual coordinates can then be used to route a message greedily through the network. Packet delivery is also not guaranteed if different nodes have the same virtual coordinates.
@cite_26 @cite_9 @cite_24 @cite_27 @cite_31
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We propose an energy efficient routing protocol, VCost, for sensor networks. We assume that nodes are unaware of their geographic location thus, VCost assigns virtual coordinates to nodes as follows. Based on the node hop count distances from a set of landmarks, our method computes a distance metric to obtain the node's virtual coordinates. VCost, then uses these coordinates to route packets from node u to node v, in its neighborhood, such that the ratio of the cost to send a message to v to the progress in the routing task towards the destination is minimized. Compared to existing algorithms that use virtual locations, our simulation shows that VCost improves significantly energy consumption and preserves the small percentage of successful routings. This paper considers the problem of designing power efficient routing with guaranteed delivery for sensor networks with known distances between neighbors but unknown geographic locations. We propose Hector, a hybrid energy efficient tree-based optimized routing protocol, based on two sets of virtual coordinates. One set is based on rooted tree coordinates, and the other is based on hop distances toward several landmarks. In our algorithm, the node currently holding the packet forwards it to its neighbor that optimizes ratio of power cost over distance progress with landmark coordinates, among nodes that reduce landmark coordinates and do not increase tree coordinates. If such a node does not exist then forwarding is made to the neighbor that reduces tree based distance and optimizes power cost over tree distance progress ratio. Our simulations show the superiority of our algorithm over existing alternatives while guaranteeing delivery, and only up to 30 additional power compared to centralized shortest weighted path algorithm. We present gradient landmark-based distributed routing (GLIDER), a novel naming addressing scheme and associated routing algorithm, for a network of wireless communicating nodes. We assume that the nodes are fixed (though their geographic locations are not necessarily known), and that each node can communicate wirelessly with some of its geographic neighbors - a common scenario in sensor networks. We develop a protocol which in a preprocessing phase discovers the global topology of the sensor field and, as a byproduct, partitions the nodes into routable tiles - regions where the node placement is sufficiently dense and regular that local greedy methods can work well. Such global topology includes not just connectivity but also higher order topological features, such as the presence of holes. We address each node by the name of the tile containing it and a set of local coordinates derived from connectivity graph distances between the node and certain landmark nodes associated with its own and neighboring tiles. We use the tile adjacency graph for global route planning and the local coordinates for realizing actual inter- and intra-tile routes. We show that efficient load-balanced global routing can be implemented quite simply using such a scheme. We propose a scalable and reliable point-to-point routing algorithm for ad hoc wireless networks and sensor-nets. Our algorithm assigns to each node of the network a virtual coordinate in the hyperbolic plane, and performs greedy geographic routing with respect to these virtual coordinates. Unlike other proposed greedy routing algorithms based on virtual coordinates, our embedding guarantees that the greedy algorithm is always successful in finding a route to the destination, if such a route exists. We describe a distributed algorithm for computing each node's virtual coordinates in the hyperbolic plane, and for greedily routing packets to a destination point in the hyperbolic plane. (This destination may be the address of another node of the network, or it may be an address associated to a piece of content in a Distributed Hash Table. In the latter case we prove that the greedy routing strategy makes a consistent choice of the node responsible for the address, irrespective of the source address of the request.) We evaluate the resulting algorithm in terms of both path stretch and node congestion. We propose a practical and scalable technique for point-to-point routing in wireless sensornets. This method, called Beacon Vector Routing (BVR), assigns coordinates to nodes based on the vector of hop count distances to a small set of beacons, and then defines a distance metric on these coordinates. BVR routes packets greedily, forwarding to the next hop that is the closest (according to this beacon vector distance metric) to the destination. We evaluate this approach through a combination of high-level simulation to investigate scaling and design tradeoffs, and a prototype implementation over real testbeds as a necessary reality check. In this paper we consider the problem of constructing a coordinate system in a sensor network where location information is not available. To this purpose we introduce the virtual coordinate assignment protocol (VCap) which defines a virtual coordinate system based on hop distances. As compared to other approaches, VCap is simple and have very little requirements in terms of communication and memory overheads. We compare by simulations the performances of greedy routing using our virtual coordinate system with the one using the physical coordinates. Results show that the virtual coordinate system can be used to efficiently support geographic routing. Geographic routing can provide efficient routing at a fixed overhead. However, the performance of geographic routing is impacted by physical voids, and localization errors. Accordingly, virtual coordinate systems (VCS) were proposed as an alternative approach that is resilient to localization errors and that naturally routes around physical voids. However, VCS also faces virtual anomalies. Moreover, there are no effective complementary routing algorithm that can be used to traverse voids. Most existing solutions use variants of flooding or blind searching when a void is encountered. In this paper, we make the observation that increasing the number of dimensions in virtual coordinate systems cannot eliminate all virtual anomalies since some portions of the network may be 1-connected to the rest of the network. As a result, we conjecture that a delivery guaranteed protocol must be one-dimensional and propose a spanning-path virtual coordinate system that has this property. We develop a delivery guaranteed routing algorithm on top of this system that can be used on its own, or as a complementary algorithm to traverse voids. With this approach, and for the first time, we demonstrate a stateless and delivery guaranteed geometric routing algorithm on VCS. When used in conjunction with our previously proposed aligned virtual coordinate system (AVCS), it out-performs not only all geometric routing protocols on VCS, but also geographic routing with accurate location information. Sensor networks are wireless adhoc networks where all the nodes cooperate for routing messages in the absence of a fixed infrastructure. Non-flooding, guaranteed delivery routing protocols are preferred because sensor networks have limited battery life. Location aware routing protocols are good candidates for sensor network applications, nevertheless they need either an external location service like GPS or Galileo (which are bulky, energy consuming devices) or internal location services providing non-unique virtual coordinates leading to low delivery rates. In this paper we introduce Position Trees a collision free, distributed labeling algorithm based on hop counting, which embed a spanning tree of the underlying network. The Routing with Position Trees (RTP) is a guaranteed delivery, non-flooding, efficient implicit routing protocol based on Position Trees. We study experimentally the statistical properties of memory requirements and the routing efficiency of the RPT. In Wireless Sensor Networks (WSNs), localization is one of the most important technologies since it plays a critical role in many applications, e.g., target tracking. If the users cannot obtain the accurate location information, the related applications cannot be accomplished. The main idea in most localization methods is that some deployed nodes (landmarks) with known coordinates (e.g., GPS-equipped nodes) transmit beacons with their coordinates in order to help other nodes localize themselves. In general, the main localization algorithms are classified into two categories: range-based and range-free. In this paper, we reclassify the localization algorithms with a new perspective based on the mobility state of landmarks and unknown nodes, and present a detailed analysis of the representative localization algorithms. Moreover, we compare the existing localization algorithms and analyze the future research directions for the localization algorithms in WSNs. In visual navigation, landmarks can be used in a number of different ways. In this paper, we investigate the role of global and local landmarks in virtual environment navigation. We performed an experiment in a virtual environment called “Hexatown”, consisting of a regular hexagonal grid of streets and junctions. Each junction was identified by the presence of distinct local landmarks (buildings, phone box, and so on). Additionally, compass information or a global frame of reference was provided by global landmarks (hilltop, television tower, and city skyline). According to participants' movement decisions, egomotion was simulated, and displayed on a 180 deg. projection screen. Participants learned the route back and forth between two local landmarks. In the test phase, individual junctions were approached and the participant's movement decision was recorded. We performed two experiments involving landmark changes after learning. In the first, we used conflicting cues by transposing landmarks. In the second experiment, we reduced either local or global landmark information. Results show that both local and global landmarks are used in wayfinding decisions. However, different participants rely on different strategies. In the first experiment (cue conflict) for example, some of the participants used only local landmarks while others relied exclusively on global landmarks. Other participants used local landmarks at one location and global landmarks at the other. When removing one landmark type in the second experiment, the other type could be used by almost all participants, indicating that information about the neglected landmark type was present in memory. We propose an embedding and routing scheme for arbitrary network connectivity graphs, based on greedy routing and utilizing virtual node coordinates. In dynamic multihop packet-switching communication networks, routing elements can join or leave during network operation or exhibit intermittent failures. We present an algorithm for online greedy graph embedding in the hyperbolic plane that enables incremental embedding of network nodes as they join the network, without disturbing the global embedding. Even a single link or node removal may invalidate the greedy routing success guarantees in network embeddings based on an embedded spanning tree subgraph. As an alternative to frequent reembedding of temporally dynamic network graphs in order to retain the greedy embedding property, we propose a simple but robust generalization of greedy distance routing called Gravity-Pressure (GP) routing. Our routing method always succeeds in finding a route to the destination provided that a path exists, even if a significant fraction of links or nodes is removed subsequent to the embedding. GP routing does not require precomputation or maintenance of special spanning subgraphs and, as demonstrated by our numerical evaluation, is particularly suitable for operation in tandem with our proposed algorithm for online graph embedding. We conjecture that any planar 3-connected graph can be embedded in the plane in such a way that for any nodes s and t, there is a path from s to t such that the Euclidean distance to t decreases monotonically along the path. A consequence of this conjecture would be that in any ad hoc network containing such a graph as a spanning subgraph, two-dimensional virtual coordinates for the nodes can be found for which the method of purely greedy geographic routing is guaranteed to work. We discuss this conjecture and its equivalent forms show that its hypothesis is as weak as possible, and show a result delimiting the applicability of our approach: any 3-connected K3,3-free graph has a planar 3-connected spanning subgraph. We also present two alternative versions of greedy routing on virtual coordinates that provably work. Using Steinitz's theorem we show that any 3-connected planar graph can be embedded in three dimensions so that greedy routing works, albeit with a modified notion of distance; we present experimental evidence that this scheme can be implemented effectively in practice. We also present a simple but provably robust version of greedy routing that works for any graph with a 3-connected planar spanning subgraph. In this paper we study approximate landmark-based methods for point-to-point distance estimation in very large networks. These methods involve selecting a subset of nodes as landmarks and computing offline the distances from each node in the graph to those landmarks. At runtime, when the distance between a pair of nodes is needed, it can be estimated quickly by combining the precomputed distances. We prove that selecting the optimal set of landmarks is an NP-hard problem, and thus heuristic solutions need to be employed. We therefore explore theoretical insights to devise a variety of simple methods that scale well in very large networks. The efficiency of the suggested techniques is tested experimentally using five real-world graphs having millions of edges. While theoretical bounds support the claim that random landmarks work well in practice, our extensive experimentation shows that smart landmark selection can yield dramatically more accurate results: for a given target accuracy, our methods require as much as 250 times less space than selecting landmarks at random. In addition, we demonstrate that at a very small accuracy loss our techniques are several orders of magnitude faster than the state-of-the-art exact methods. Finally, we study an application of our methods to the task of social search in large graphs. Geographic Routing is a family of routing algorithms that uses geographic point locations as addresses for the purposes of routing. Such routing algorithms have proven to be both simple to implement and heuristically effective when applied to wireless sensor networks. Greedy Routing is a natural abstraction of this model in which nodes are assigned virtual coordinates in a metric space, and these coordinates are used to perform point-to-point routing. Here we resolve a conjecture of Papadimitriou and Ratajczak that every 3-connected planar graph admits a greedy embedding into the Euclidean plane. This immediately implies that all 3-connected graphs that exclude K 3,3 as a minor admit a greedy embedding into the Euclidean plane. We also prove a combinatorial condition that guarantees nonembeddability. We use this result to construct graphs that can be greedily embedded into the Euclidean plane, but for which no spanning tree admits such an embedding. The fundamental matrix is a basic tool in the analysis of scenes taken with two uncalibrated cameras, and the eight-point algorithm is a frequently cited method for computing the fundamental matrix from a set of eight or more point matches. It has the advantage of simplicity of implementation. The prevailing view is, however, that it is extremely susceptible to noise and hence virtually useless for most purposes. This paper challenges that view, by showing that by preceding the algorithm with a very simple normalization (translation and scaling) of the coordinates of the matched points, results are obtained comparable with the best iterative algorithms. This improved performance is justified by theory and verified by extensive experiments on real images. APS algorithms use the basic idea of distance vector routing to find positions in an ad hoc network using only a fraction of landmarks, for example GPS enabled nodes. All the nodes in the network are assumed to have the possibility of measuring: range, angle of arrival (AOA), orientation, or a combination of them. We give a lower bound for positioning error in a multihop network for a range angle free algorithm, and examine the error characteristic of four classes of multihop APS algorithms under various condition, using theoretical analysis and simulations. Analysis of range angle free, range based, angle based, and multimodal algorithms show a complex tradeoff between the capabilities used, the density of the network, ratio of landmarks, and the quality of the position obtained. Abstract In this paper, we propose a semi-supervised facial landmark detection algorithm (SEMI) based on convolutional neural network (CNN), which can detect facial components and landmarks simultaneously. Unlike previous coarse-to-fine algorithms, our model does not need extra input such as initial landmark prediction. It also solves the occlusion problem of large area by detecting the visible facial components while existing face detectors failed to detect faces. Semi-supervised learning algorithm is also an effective data augmentation method. In our experiment, each image has two types of ground truth, one is bounding-box related (classification and coordinates) and the other is landmark coordinates inside the bounding-box. The supervised data have both two types of ground truth while the semi-supervised data only have the bounding-box. Our model was trained by the merge of two parts of data. Extensive evaluations on Helen, LFPW and 300-W show that our algorithm is able to complete the landmark task and performs better than many state-of-the-art facial landmark detecting algorithms. Deep neural networks can model images with rich latent representations, but they cannot naturally conceptualize structures of object categories in a human-perceptible way. This paper addresses the problem of learning object structures in an image modeling process without supervision. We propose an autoencoding formulation to discover landmarks as explicit structural representations. The encoding module outputs landmark coordinates, whose validity is ensured by constraints that reflect the necessary properties for landmarks. The decoding module takes the landmarks as a part of the learnable input representations in an end-to-end differentiable framework. Our discovered landmarks are semantically meaningful and more predictive of manually annotated landmarks than those discovered by previous methods. The coordinates of our landmarks are also complementary features to pretrained deep-neural-network representations in recognizing visual attributes. In addition, the proposed method naturally creates an unsupervised, perceptible interface to manipulate object shapes and decode images with controllable structures. The project webpage is at this http URL A major problem in map building is due to the imprecision of sensor measures. In this paper we propose a technique, called elastic correction, for correcting the dead-reckoning errors made during the exploration of an unknown environment by a robot capable of identifying landmarks. Knowledge of the environment being acquired is modelled by a relational graph whose vertices and arcs represent, respectively, landmarks and inter-landmark routes. Elastic correction is based on an analogy between this graph and a mechanical structure: the map is regarded as a truss where each route is an elastic bar and each landmark a node. Errors are corrected as a result of the deformations induced from the forces arising within the structure as inconsistent measures are taken. The uncertainty on odometry is modelled by the elasticity parameters characterizing the structure. We consider the problem of node positioning in ad hoc networks. We propose a distributed, infrastructure-free positioning algorithm that does not rely on GPS (Global Positioning System). Instead, the algorithm uses the distances between the nodes to build a relative coordinate system in which the node positions are computed in two dimensions. Despite the distance measurement errors and the motion of the nodes, the algorithm provides sufficient location information and accuracy to support basic network functions. Examples of applications where this algorithm can be used include Location Aided Routing [10] and Geodesic Packet Forwarding [2]. Another example are sensor networks, where mobility is less of a problem. The main contribution of this work is to define and compute relative positions of the nodes in an ad hoc network without using GPS. We further explain how the proposed approach can be applied to wide area ad hoc networks.