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Depth Estimation via Sampling
Eliad Tsfadia
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The at most π-levels Let πΏ be π lines in the plane.
Every intersection point between two line is called a vertex. A point π β πβπΏ π is of level π if there are exactly π lines of πΏ strictly below it. The π-level is a curve along the lines of πΏ that passes through points in level π.
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Questions (Upper Bounds)
What is the number of vertices in the 0-level ? The 0-level as at most πβ1 vertices (each line might contribute at most one segment to the 0-level) What is the number of vertices in the π-level ? This is a surprisingly hard question. What is the number of vertices of level β€ π ?
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Theorem 1: For π>1, The number of vertices in π΄(πΏ) of level β€ π is π(ππ).
Proof: Let π β€π = π β€π (πΏ) be the set of all vertices of level β€ π in π΄(πΏ) Pick a random sample π
of πΏ, by picking each line to be in the sample with probability 1 π . Observe that πΈ[|π
|] = π π For any vertex π£βπ΄(πΏ), Let π π£ be an indicator variable which is 1 if π£ is a vertex of 0-level in π΄(π
), and 0 otherwise. For π£β π β€π (ππ π π’ππ π£ is a vertex in level j, for 0β€πβ€π) what is the probability that π π£ = 1 ? Pr π π£ =1 =( 1β 1 π ) π ( 1 π ) 2 β₯ ( 1β 1 π ) π 1 π 2 β₯ π β2 π π π 2 = 1 π 2 π 2 (note that 1βπ₯β₯ π β2π₯ for 0<π₯β€ 1 2 )
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We saw that for π£β π β€π , πΈ π π£ =Pr π π£ =1 β₯ 1 π 2 π 2
On the other hand, the number of vertices on the 0-level of A(π
) is at most |π
|β1. As such: π£β π β€π π π£ β€ π£ βπ΄(πΏ) π π£ β€ π
β1 In expectation: E[ π£β π β€π π π£ ] β€πΈ π
β1 = π π β1β€ π π On the other hand: E[ π£β π β€π π π£ ]= π£β π β€π πΈ π π£ β₯ | π β€π | π 2 π 2 Finally, we get: | π β€π | π 2 π 2 β€ π π . Namely, |π β€π | β€ π 2 ππ=π(ππ) β
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Extention of Theorem 1 - Clarkson Shor (89):
Suppose we have a set π of π objects (lines). The objects defines configurations (vertices). Each configuration is defined by at most π objects (π=2). Each configuration is in conflict with some of the objects (a vertex is in conflict with all the lines that below it) The weight/depth of a configuration is the number of objects that are in conflict with it (The level of a vertex). π β€π π = The number of configurations in π with weight β€π (| π β€π |). π β€π π = πππ₯ π =π π β€π (π) (the maximum of | π β€π (πΏ)| for every πΏ =π). Then: π β€π π =π π π π 0 π π ( π β€π =π π 2 π 0 π π =π π 2 β π π =π(ππ) ).
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Proof (Reproduce of the proof of Theorem 1):
Let π be a set of π objects. Let πΆ β€π = πΆ β€π (π) be the set of all configurations of weight β€ k . Pick a random sample π
of π, by picking each line to be in the sample with probability 1 π . Observe that πΈ π
= π π . For any configuration π, Let π π be an indicator variable which is 1 if π is a configuration of weight 0 in π
, and 0 otherwise. For πβ πΆ β€π (assume π is a configuration with weight π in S, for 0β€πβ€π) what is the probability that π π = 1 ? Pr π π =1 =( 1β 1 π ) π ( 1 π ) π β₯ ( 1β 1 π ) π 1 π π β₯ π β2 π π π π = 1 π 2 π π (note that 1βπ₯β₯ π β2π₯ for 0<π₯β€ 1 2 )
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We saw that πΈ π π =Pr π π =1 β₯ 1 π 2 π π
As such: πβ πΆ β€π π π β€ π β πΆ β€π π π = π 0 π
β€ π 0 ( π
) In expectation: E[ πβ πΆ β€π π π ] β€πΈ π 0 (|π
|) On the other hand: E[ πβ πΆ β€π π π ]= πβ πΆ β€π πΈ π π β₯ | πΆ β€π | π 2 π π We get: | πΆ β€π | π 2 π π β€πΈ π 0 (|π
|) . Namely, π β€π π =|πΆ β€π | = π( π π πΈ[ π 0 |π
| ]) Does πΈ π 0 |π
| =π π 0 π π ?
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Lemma: If π 0 π =π(ππππ¦ π ) , Then πΈ π 0 |R| =π N 0 n k .
If we assume the condition in this lemma, we get the final result: π β€π π =π π π π 0 π π This is a bound for every π. Thus, π β€π π =π π π N 0 n k β
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Clarkson-Shor: π β€π π =π π π π 0 π π
Example: Let πβ β 2 be a set of π points above the π₯-axis. Let β be the set of rectangles that their bottom edge is lying on the π₯-axis and that contain a point of π on each of their other three edges. What is the number of rectangle in β that contain at most π points of π? Solution: Can we bound π 0 π ? (the number of empty rectangles) π 0 π β€π=π(π) (each point πβπ can have at most one such empty rectangle containing p on its upper edge) By Clarkson-Shor we get: π β€π π =π π 3 β π π =π( π 2 π) .
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Another Example: Let π be a set of π points in β π
Another Example: Let π be a set of π points in β π . A region is a halfspace with π points on its boundary (the halfspace above the points). What is the number of different halfspaces containing at most π points of π ? Solution: Theorem without proof: the complexity of the convex hull of π points in π dimensions is bounded by π( π π 2 ). By the theorem we get: π 0 π =π( π π 2 ). By Clarkson-Shor we get: π β€π π =π π π π π π 2 =π π π 2 π π
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We saw that by Clarkson-Shor we can give a good upper bound for π β€π (π) in many different problems, If we have a good bound for π 0 (π). What about π π (π)? If we stay at the first example (the π-level problem), can we give a good upper bound for the number of vertices in the π-level which is smaller than π(ππ)? We will see later a bound of π(π π ) to the number of vertices in the π-level.
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The Crossing Lemma Theorem 2 (Eulerβs formula): For a connected planar graph πΊ with π vertices, π edges and π faces we have: π+π =π+2. If πΊ is not necessarily connected, we have: π+πβ₯π+2. Lemma 3: If πΊ is a simple planar graph, then πβ€3πβ6 and πβ€2πβ4. Definition: For any simple graph πΊ, denote as π(πΊ) as the minimal number of edge crossing in any drawing of πΊ. Claim 4: For any simple graph πΊ, π(πΊ) β₯πβ3π+6
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Claim 4: For any simple graph πΊ, π(πΊ) β₯πβ3π+6
Proof: Draw πΊ with π(πΊ) crossings. Let π» be the graph resulting from πΊ by removing one of the edges from each pair of crossing edges. We have π π» β₯πβπ πΊ . Note that π» is Planar. By Lemma 3 we get π π» β€3π π» β6=3πβ6 We get: πβπ πΊ β€3πβ6 , Which is equivalent to π πΊ β₯πβ3π+6. β
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Lemma 5 (The Crossing Lemma): For a simple graph πΊ with πβ₯6π we have π πΊ =Ξ©( π 3 π 2 ).
Proof: Draw πΊ with π(πΊ) crossings, and let π be a random subset of π(πΊ) selected by choosing each vertex with probability π (We will choose π later). Let π»= πΊ π =(π, πΈ β² ) be the induced subgraph of πΊ over π. πΈ β² = π’π£ π’π£βπΈ πΊ and π’,π£βπ . What is the Probability that a vertex π£ survived? Exactly π What is the probability that an edge of πΊ survived? Exactly π 2 What is the probability of a crossing to survived? Exactly π 4
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Let π π£ , π π and π π denote the number of vertices, edges and crossing that survived, respectively. Then, πΈ π π£ =ππ, πΈ π π =π π 2 , πΈ π π =π πΊ π 4 By Claim 4 we have: π π β₯π π» β₯ π π β3 π π£ +6 In particular: πΈ π π β₯πΈ π π β3πΈ π π£ +6 This implies that: π πΊ π 4 β₯π π 2 β3ππ+6 We get: π πΊ β₯ π π 2 β 3π π π 4 β₯ π π 2 β 3π π 3 In particular, by setting π= 6π π β€1 we have that: π πΊ β₯ π 6π π 2 β 3π 6π π 3 = π π 2 β π π 2 = π π 2 =Ξ© π 3 π 2 β
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Duality A point π=(π,π) is transferred to the line π β ={π¦=ππ₯+π} .
A line π={π¦=ππ₯+π} is transferred to the point π β =(βπ,π) . We can extent this duality to dill with lines in the form {π₯=π} in the projective plane with Homogeneous coordinates. For the sake of simplicity, assume there arenβt such lines. π= π,π is on π= π¦=ππ₯+π βΊ ππ+π=πβΊβππ+π=πβΊ π β = βπ,π is on π β ={π¦=ππ₯+π} π= π,π is above π= π¦=ππ₯+π βΊ ππ+π<πβΊβππ+π>πβΊ π β = π¦=ππ₯+π is above π β = βπ,π
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On the number of π-sets (Application of the crossing lemma)
Let π be a set of π points in general position. A pair of points π,πβπ form a π-set if there are exactly π points in the (closed) halfplane below the line passing through p and q. Consider the graph πΊ=(π,πΈ) that has an edge for every π-set. We want to bound the size of πΈ as a function of π and π. Observe that via duality we have that the number of π-sets is exactly the number of vertices in the (πβ2)βlevel in the dual arrangement π΄( π β ). Thus, if we can bound the size of πΈ, we also can bound the number of vertices in the π-level.
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Lemma 6: Let ππ and π π be two π-set edges of πΊ, with π and π to the left of π. Then there exists a point π‘βπ to the right of π such that ππ‘ is a π-set, and ππππ(π,π‘) lies between ππππ(π,π) and ππππ(π ,π) Proof sketch: Below (and include) each of ππππ(π,π) and ππππ(π ,π) there are exactly π points of π. If we increase by small π the slope of ππππ(π,π) (around π) we get that there are exactly πβ1 points below this line (because it wonβt include π) If we decrease by small π the slope of ππππ(π ,π) (around π) we get that there are exactly π points below this line (because it will still include π ). If we continue increase the slope of ππππ(π,π), we have to get from value πβ1 to value π somewhere before we get to π . These means that we got to a new point π‘ that has to be on the right of π (why?) and below ππππ(π,π‘) there are exactly π points.
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Lemma 7: Let πβπ and Let πβπ be a point to the left of π so that ππβπΈ .
Furthermore, assume that there are at least πβ1 points of π to the right of π. Then, there exists a point π‘βπ such that ππ‘βπΈ and ππ‘ has larger slope than ππ. Proof sketch: Below (and include) ππππ(π,π) there are exactly π points of π. If we increase by small π the slope of ππππ(π,π) (through π) we get value πβ1 If we increase the slope to infinity, we get value β₯ k. If we continue increasing the slope from ππ we have to get from value πβ1 to π. These means that we got to a new point π‘ in the right of π and below ππππ(π,π‘) there are exactly π points, and slope(ππ‘) > slope(ππ)
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Lemma 8: The edges of πΊ can be decomposed into πβ1 convex chains πΆ 1 ,β¦, πΆ πβ1 .
Proof (by iterative algorithm): The algorithm will have πβ1 iterations. In each iteration, choose the left most point that still has an edge in πΈ that hasnβt been chosen yet. Suppose the point is π and the edge is π = ππβπΈ. Rotate a line around π (counterclockwise) till we encounter an edge πβ =ππ βπΈ where s is a point to the right of π. We can now walk from π to πβ and continue walking in this way, forming a chain of edges in πΊ. Claim: in the end of the algorithm, we get πβ1 edge disjoint convex chains that contain all the edges in πΊ.
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Claim: In the end of the algorithm, we get πβ1 edge disjoint convex chains that contain all the edges in πΊ. Proof: The chains are convex since we rotate counterclockwise as we walk along a chain. By Lemma 6, no two chains can be βmergedβ into using the same edge. By Lemma 6, no two chains can end in the same point. By Lemma 7, such a chain can end only in the last πβ1 points of π. If there was an edge π=ππβπΈ that hasnβt been chosen, we could create a convex chain from this edge, in contradiction to (2) and (3).
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Lemma 8: The edges of πΊ can be decomposed into πβ1 convex chains πΆ 1 ,β¦, πΆ πβ1 .
Similary, the edges of πΊ can be decomposed into πβπ+1 concave chains π· 1 ,β¦, π· πβπ+1 . Proof of second part: Rotate the plane by 180Β°. Every π-set is now (πβπ+2)-set. By the first argumentation, the edges of πΊ can be decomposed into πβπ+1 convex chains, which are concave in the original orientation. β
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Theorem 9: πΈ =π(π π ), which means that the number of π-sets defined by a set of n points in the plane is π(π π ). Proof : The graph πΊ has π =π vertices. Let π=|πΈ πΊ | be the number of π-sets. By Lemma 8, the edges can be decomposed into convex chains πΆ 1 ,β¦, πΆ πβ1 and can be decompose also to concave chains π· 1 ,β¦, π· πβπ+1 . Any crossing of two edges of πΊ is an intersection point of one convex chain of πΆ 1 ,β¦, πΆ πβ1 to one concave chain of π· 1 ,β¦, π· πβπ+1 . Since a convex chain and a concave chain can have at most two intersections, we conclude that there are at most 2 πβ1 πβπ+1 =π(ππ) crossing in πΊ. By the crossing lemma (Lemma 5) there are at least Ξ© π 3 π 2 crossings in πΊ. Putting this two together, we conclude π 3 π 2 =π ππ βπ=π(π π ) β
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On the number of incidences (Another application of the crossing lemma)
Let π be a set of π distinct points in the plane. Let πΏ be a set of π distinct lines in the plane (we do not assume general position here). Let πΌ(π,πΏ) denote the number of point/line pairs (π,π) where πβπ , πβπΏ and πβπ . Let πΌ π,π = πππ₯ π =π , πΏ =π πΌ(π,πΏ) Clearly, πΌ π,π β€ππ. Lemma 6: πΌ π,π =π( π π π+π)
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Lemma 10: πΌ π,π =π( π π π+π) Proof: Let π and πΏ be the set of π points and π lines realizing πΌ(π,π). Note that each line contain at least one point, and πΌ π,π β₯maxβ‘(π,π). Let πΊ be a graph over the points of π. We connect two points if they lie consecutively on a common line of πΏ. What is π(πΊ) and π πΊ ? Clearly, π(πΊ)=π and π πΊ =πΌβπ , where πΌ=πΌ(π,π). Note that π(πΊ)β€ π 2 (trivial bound) On the other hand, by lemma 5, if π πΊ β₯6π πΊ (i.e. πΌβπβ₯6π) We have π πΊ β₯ π 1 π πΊ 3 π πΊ 2 . Thus, π 1 (πΌβπ) 3 π 2 = π 1 π(πΊ) 3 π(πΊ) 2 β€π(πΊ)β€ π 2 Thus, πΌ= π 1 β π π π=π( π π π)
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We proved: π πΊ β₯6π πΊ βπΌ π,π =π( π 2 3 π 2 3 +π).
If π(πΊ)<6π(πΊ) we get πΌβπβ€6nβ πΌ=π π+π Putting the two together, we have that πΌ π,π =π( π π π+π) β
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Lemma 11: πΌ π,π =Ξ©( π π π+π) Proof: Itβs clear that πΌ π,π =Ξ© π+π . For a positive integer k, let π = 1,β¦,π . Denote π 1 = 1 2 π π β 1 3 , π 2 = π β π , π= π π For the sake of simplicity of exposition, assume π 1 , π 2 , π 3 are integers. Let π= π 1 X 2π and L= π¦=ππ₯+π πβ π 2 and πβ π . Note that π = π 1 β2π=π and |πΏ|= π 2 βπ=π. For any π₯β π 1 , and for any πβ π 2 and πβ π we have that: π¦=ππ₯+πβ€ π 1 π 2 +π= 1 2 π+πβ€2π. Namely, any line of πΏ is incident to π 1 points of π. Namely, πΌ π,πΏ = π 1 πΏ = 1 2 π π β 1 3 βπ= 1 2 π π β πΌ π,π =Ξ©( π π ) β
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