Geometry and Topology from Point Cloud Data
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1 Geometry and Topology from Point Cloud Data Tamal K. Dey Department of Computer Science and Engineering The Ohio State University Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 1 / 51
2 Problems Outline Two and Three dimensions: Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 2 / 51
3 Problems Outline Two and Three dimensions: Curve and surface reconstruction Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 2 / 51
4 Problems Outline Two and Three dimensions: Curve and surface reconstruction High dimensions: Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 2 / 51
5 Problems Outline Two and Three dimensions: Curve and surface reconstruction High dimensions: Manifold reconstruction Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 2 / 51
6 Problems Outline Two and Three dimensions: Curve and surface reconstruction High dimensions: Manifold reconstruction Homological attributes computation Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 2 / 51
7 Reconstruction Surface Reconstruction Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 3 / 51
8 Basic Topology Topology Background d-ball B d {x R d x 1} d-sphere S d {x R d x = 1} Homeomorphism h : T 1 T 2 where h is continuous, bijective and has continuous inverse k-manifold: neighborhoods homeomorphic to open k-ball 2-sphere, torus, double torus are 2-manifolds k-manifold with boundary: interior points, boundary points B d is a d-manifold with boundary where bd(b d ) = S d 1 Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 4 / 51
9 Basic Topology Topology Background Smooth Manifolds Triangulation k-simplex Simplicial complex K: (i) t K if t is a face of t K (ii) t 1, t 2 K t 1 t 2 is a face of both K is a triangulation of a topological space T if T K Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 5 / 51
10 Sampling Sampling Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 6 / 51
11 Medial Axis Sampling Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 7 / 51
12 Local Feature Size Sampling f (x) is the distance to medial axis Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 8 / 51
13 Sampling ε-sample (Amenta-Bern-Eppstein 98) Each x has a sample within εf (x) distance Dey (2011) Geometry and Topology from Point Cloud Data WALCOM 11 9 / 51
14 Sampling Voronoi Diagram & Delaunay Triangulation Definition Voronoi diagram Vor P: collection of Voronoi cells {V p } and its faces V p = {x R 3 x p x q for all q P} Definition Delaunay triangulation Del P: dual of Vor P, a simplicial complex Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
15 Curve Reconstruction Curve samples and Voronoi Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
16 Curve Reconstruction Curve Reconstruction Algorithms Crust algorithm (Amenta-Bern-Eppstein 98) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
17 Curve Reconstruction Curve Reconstruction Algorithms Crust algorithm (Amenta-Bern-Eppstein 98) Nearest neighbor algorithm (Dey-Kumar 99) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
18 Curve Reconstruction Curve Reconstruction Algorithms Crust algorithm (Amenta-Bern-Eppstein 98) Nearest neighbor algorithm (Dey-Kumar 99) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
19 Curve Reconstruction Curve Reconstruction Algorithms Crust algorithm (Amenta-Bern-Eppstein 98) Nearest neighbor algorithm (Dey-Kumar 99) many variations (DMR99,Gie00,GS00,FR01,AM02..) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
20 Difficulties in 3D Surface Reconstruction Voronoi vertices can come close to the surface... slivers are nasty There is no unique correct surface for reference Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
21 Surface Reconstruction Restricted Voronoi/Delaunay Definition Restricted Voronoi: Vor P Σ = {f P Σ = f Σ f Vor P} Definition Restricted Delaunay: Del P Σ = {σ V σ Σ } Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
22 Surface Reconstruction Topology Closed Ball property (Edelsbrunner, Shah 94) If restricted Voronoi cell is a closed ball in each dimension, then Del P Σ is homeomorphic to Σ. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
23 Surface Reconstruction Topology Closed Ball property (Edelsbrunner, Shah 94) If restricted Voronoi cell is a closed ball in each dimension, then Del P Σ is homeomorphic to Σ. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
24 Surface Reconstruction Topology Closed Ball property (Edelsbrunner, Shah 94) If restricted Voronoi cell is a closed ball in each dimension, then Del P Σ is homeomorphic to Σ. Theorem For a sufficiently small ε if P is an ε-sample of Σ, then (P, Σ) satisfies the closed ball property, and hence Del P Σ Σ. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
25 Surface Reconstruction Normals and Voronoi Cells 3D (Amenta-Bern 98) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
26 Surface Reconstruction Long Voronoi cells and Poles Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
27 Surface Reconstruction Normal Approximation Lemma (Pole Vector) ((p + p), n p ) = 2 arcsin ε 1 ε Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
28 Surface Reconstruction Crust in 3D (Amenta-Bern 98) Compute Voronoi diagram Vor P Recompute the Voronoi diagram after introducing poles Filter crust triangles from Delaunay Filter by normals Extract manifold Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
29 Cocone Surface Reconstruction vp = p + p is the pole vector Space spanned by vectors within the Voronoi cell making angle > 3π with 8 v p or v p Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
30 Surface Reconstruction Cocone Algorithm Cocone(P) 1 compute Vor P; 2 T = ; 3 for each p P do 4 T p = CandidateTriangles(V p ); 5 T := T T p ; 6 end for 7 M := ExtractManifold(T ); 8 output M Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
31 Surface Reconstruction Candidate Triangle Properties The following properties hold for sufficiently small ε (ε < 0.06) Candidate triangles include the restricted Delaunay triangles Their circumradii are small O(ε)f (p) Their normals make only O(ε) angle with the surface normals at the vertices Candidate triangles include restricted Delaunay triangles Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
32 Surface Reconstruction Manifold Extraction: Prune and Walk Remove Sharp edges with their triangles Walk outside or inside the remaining triangles Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
33 Surface Reconstruction Homeomorphism Let M be the triangulated surface obtained after the manifold extraction. Define h : R 3 Σ where h(q) is the closest point on Σ. h is well defined except at the medial axis points. Lemma (Homeomorphism) The restriction of h to M, h : M Σ, is a homeomorphism. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
34 Surface Reconstruction Cocone Guarantees Theorem Any point x Σ is within O(ε)f (x) distance from a point in the output. Conversely, any point of the output surface has a point x Σ within O(ε)f (x) distance for ε < Theorem (Amenta-Choi-Dey-Leekha) The output surface computed by Cocone from an ε sample is homeomorphic to the sampled surface for ε < Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
35 Boundaries Input Variations Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
36 Boundaries Input Variations Ambiguity in reconstruction Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
37 Boundaries Input Variations Non-homeomorphic Restricted Delaunay [DLRW09] Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
38 Boundaries Input Variations Non-orientabilty Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
39 Input Variations Boundaries Theorem (Dey-Li-Ramos-Wenger 2009) Let P be a sample of a smooth compact Σ with boundary where d(x, P) ερ, ρ = inf x lfs(x). For sufficiently small ε > 0 and 6ερ α 6ερ + O(ερ), Peel(P, α) computes a Delaunay mesh isotopic to Σ. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
40 Input Variations Noisy Data: Ram Head Hausdorff distance d H (P, Σ) is εf (p) Theoretical guarantees [Dey-Goswami04, Amenta et al.05] Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
41 Nonsmoothness Input Variations Guarantee of homeomorphism is open Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
42 High Dimensions High Dimensional PCD Curse of dimensionality (intrinsic vs. extrinsic) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
43 High Dimensions High Dimensional PCD Curse of dimensionality (intrinsic vs. extrinsic) Reconstruction of submanifolds brings ambiguity Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
44 High Dimensions High Dimensional PCD Curse of dimensionality (intrinsic vs. extrinsic) Reconstruction of submanifolds brings ambiguity Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
45 High Dimensions High Dimensional PCD Curse of dimensionality (intrinsic vs. extrinsic) Reconstruction of submanifolds brings ambiguity Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
46 High Dimensions High Dimensional PCD Curse of dimensionality (intrinsic vs. extrinsic) Reconstruction of submanifolds brings ambiguity Use (ε, δ)-sampling Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
47 High Dimensions High Dimensional PCD Curse of dimensionality (intrinsic vs. extrinsic) Reconstruction of submanifolds brings ambiguity Use (ε, δ)-sampling Restricted Delaunay does not capture topology Slivers are arbitrarily oriented [CDR05] Del P Σ Σ no matter how dense P is. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
48 High Dimensions High Dimensional PCD Curse of dimensionality (intrinsic vs. extrinsic) Reconstruction of submanifolds brings ambiguity Use (ε, δ)-sampling Restricted Delaunay does not capture topology Slivers are arbitrarily oriented [CDR05] Del P Σ Σ no matter how dense P is. Delaunay triangulation becomes harder Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
49 Reconstruction High Dimensions Theorem (Cheng-Dey-Ramos 2005) Given an (ε, δ)-sample P of a smooth manifold Σ R d for appropriate ε, δ > 0, there is a weight assignment of P so that Del ˆP Σ Σ which can be computed efficiently. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
50 Reconstruction High Dimensions Theorem (Cheng-Dey-Ramos 2005) Given an (ε, δ)-sample P of a smooth manifold Σ R d for appropriate ε, δ > 0, there is a weight assignment of P so that Del ˆP Σ Σ which can be computed efficiently. Theorem (Chazal-Lieutier 2006) Given an ε-noisy sample P of manifold Σ R d, there exists r p ρ(σ) for each p P so that the union of balls B(p, r p ) is homotopy equivalent to Σ. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
51 High Dimensions Reconstructing Compacts Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
52 High Dimensions Reconstructing Compacts lfs vanishes, introduce µ-reach and define (ε, µ)-samples. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
53 High Dimensions Reconstructing Compacts lfs vanishes, introduce µ-reach and define (ε, µ)-samples. Theorem (Chazal-Cohen-S.-Lieutier 2006) Given an (ε, µ)-sample P of a compact K R d for appropriate ε, µ > 0, there is an α so that union of balls B(p, α) is homotopy equivalent to K η for arbitrarily small η. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
54 Homology from PCD Homology Point cloud Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
55 Homology from PCD Homology Point cloud Loops Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
56 Homology PCD complex homology Point cloud Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
57 Homology PCD complex homology Point cloud Rips complex Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
58 Homology PCD complex homology Point cloud Rips complex Loops Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
59 Boundary Homology Definitions Definition A p-boundary p+1 c of a (p + 1)-chain c is defined as the sum of boundaries of its simplices Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
60 Boundary Homology Definitions Definition A p-boundary p+1 c of a (p + 1)-chain c is defined as the sum of boundaries of its simplices b c d a e Simplicial complex Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
61 Boundary Homology Definitions Definition A p-boundary p+1 c of a (p + 1)-chain c is defined as the sum of boundaries of its simplices b c d a e 2-chain bcd + bde (under Z 2 ) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
62 Boundary Homology Definitions Definition A p-boundary p+1 c of a (p + 1)-chain c is defined as the sum of boundaries of its simplices b c d a e 1-boundary bc +cd +db+bd +de +eb = bc +cd +de +eb = 2 (bcd +bde) (under Z 2 ) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
63 Cycles Homology Definitions Definition A p-cycle is a p-chain that has an empty boundary Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
64 Cycles Homology Definitions Definition A p-cycle is a p-chain that has an empty boundary b c d a e Simplicial complex Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
65 Cycles Homology Definitions Definition A p-cycle is a p-chain that has an empty boundary b c d a e 1-cycle ab + bc + cd + de + ea (under Z 2 ) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
66 Cycles Homology Definitions Definition A p-cycle is a p-chain that has an empty boundary b c d a e 1-cycle ab + bc + cd + de + ea (under Z 2 ) Each p-boundary is a p-cycle: p p+1 = 0 Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
67 Homology Homology Definitions Definition The p-dimensional homology group is defined as H p (K) = Z p (K)/B p (K) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
68 Homology Homology Definitions Definition The p-dimensional homology group is defined as H p (K) = Z p (K)/B p (K) Definition Two p-chains c and c are homologous if c = c + p+1 d for some chain d Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
69 Homology Homology Definitions Definition The p-dimensional homology group is defined as H p (K) = Z p (K)/B p (K) Definition Two p-chains c and c are homologous if c = c + p+1 d for some chain d (a) (b) (c) (a) trivial (null-homologous) cycle; (b), (c) nontrivial homologous cycles Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
70 Complexes Homology Definitions Let P R d be a point set Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
71 Homology Definitions Complexes Let P R d be a point set B(p, r) denotes an open d-ball centered at p with radius r Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
72 Homology Definitions Complexes Let P R d be a point set B(p, r) denotes an open d-ball centered at p with radius r Definition The Čech complex C r (P) is a simplicial complex where a simplex σ C r (P) iff Vert(σ) P and p Vert(σ) B(p, r/2) 0 Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
73 Homology Definitions Complexes Let P R d be a point set B(p, r) denotes an open d-ball centered at p with radius r Definition The Čech complex C r (P) is a simplicial complex where a simplex σ C r (P) iff Vert(σ) P and p Vert(σ) B(p, r/2) 0 Definition The Rips complex R r (P) is a simplicial complex where a simplex σ R r (P) iff Vert(σ) are within pairwise Euclidean distance of r Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
74 Homology Definitions Complexes Let P R d be a point set B(p, r) denotes an open d-ball centered at p with radius r Definition The Čech complex C r (P) is a simplicial complex where a simplex σ C r (P) iff Vert(σ) P and p Vert(σ) B(p, r/2) 0 Definition The Rips complex R r (P) is a simplicial complex where a simplex σ R r (P) iff Vert(σ) are within pairwise Euclidean distance of r Proposition For any finite set P R d and any r 0, C r (P) R r (P) C 2r (P) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
75 Point set P Homology Definitions Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
76 Homology Definitions Balls B(p, r/2) for p P Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
77 Čech complex C r (P) Homology Definitions Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
78 Homology Definitions Rips complex R r (P) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
79 Homology Rank Homology rank from PCD Results of Chazal and Oudot (Main idea): Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
80 Homology Rank Homology rank from PCD Results of Chazal and Oudot (Main idea): Consider inclusion of Rips complexes i : R r (P) R 4r (P). Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
81 Homology Rank Homology rank from PCD Results of Chazal and Oudot (Main idea): Consider inclusion of Rips complexes i : R r (P) R 4r (P). Induced homomorphism at homology level: i : H k (R r (P)) H k (R 4r (P)) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
82 Homology Rank Homology rank from PCD Results of Chazal and Oudot (Main idea): Consider inclusion of Rips complexes i : R r (P) R 4r (P). Induced homomorphism at homology level: i : H k (R r (P)) H k (R 4r (P)) R r (P) R 4r (P) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
83 Homology Rank Homology rank from PCD Results of Chazal and Oudot (Main idea): Consider inclusion of Rips complexes i : R r (P) R 4r (P). Induced homomorphism at homology level: i : H k (R r (P)) H k (R 4r (P)) R r (P) R 4r (P) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
84 Homology Rank Homology rank from PCD Results of Chazal and Oudot (Main idea): Consider inclusion of Rips complexes i : R r (P) R 4r (P). Induced homomorphism at homology level: i : H k (R r (P)) H k (R 4r (P)) Theorem (Chazal-Oudot 2008) Rank of the image of i equals the rank of H k (M) if P is dense sample of M and r is chosen appropriately. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
85 Homology Rank Algorithm for homology rank 1 Compute R r (P). Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
86 Homology Rank Algorithm for homology rank 1 Compute R r (P). 2 Insert simplices of R 4r (P) that are not in R r (P) and compute the rank of the homology classes that survive. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
87 Homology Rank Algorithm for homology rank 1 Compute R r (P). 2 Insert simplices of R 4r (P) that are not in R r (P) and compute the rank of the homology classes that survive. Step 2: Persistent homology can be computed by the persistence algorithm [Edelsbrunner-Letscher-Zomorodian 2000]. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
88 Homology basis OHBP: Optimal Homology Basis Problem Compute an optimal set of cycles forming a basis Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
89 Homology basis OHBP: Optimal Homology Basis Problem Compute an optimal set of cycles forming a basis Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
90 Homology basis OHBP: Optimal Homology Basis Problem Compute an optimal set of cycles forming a basis Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
91 Homology basis OHBP: Optimal Homology Basis Problem Compute an optimal set of cycles forming a basis First solution for surfaces: Erickson-Whittlesey [SODA05] Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
92 Homology basis OHBP: Optimal Homology Basis Problem Compute an optimal set of cycles forming a basis First solution for surfaces: Erickson-Whittlesey [SODA05] General problem NP-hard: Chen-Freedman [SODA10] Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
93 Homology basis OHBP: Optimal Homology Basis Problem Compute an optimal set of cycles forming a basis First solution for surfaces: Erickson-Whittlesey [SODA05] General problem NP-hard: Chen-Freedman [SODA10] H 1 basis for simplicial complexes: Dey-Sun-Wang [SoCG10] Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
94 Basis Homology basis Let H j (T ) denote the j-dimensional homology group of T under Z 2 Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
95 Basis Homology basis Let H j (T ) denote the j-dimensional homology group of T under Z 2 The elements of H 1 (T ) are equivalence classes [g] of 1-dimensional cycles g, also called loops Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
96 Basis Homology basis Let H j (T ) denote the j-dimensional homology group of T under Z 2 The elements of H 1 (T ) are equivalence classes [g] of 1-dimensional cycles g, also called loops Definition A minimal set {[g 1 ],..., [g k ]} generating H 1 (T ) is called its basis Here k = rank H 1 (T ) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
97 Shortest Basis Homology basis We associate a weight w(g) 0 with each loop g in T Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
98 Homology basis Shortest Basis We associate a weight w(g) 0 with each loop g in T The length of a set of loops G = {g 1,..., g k } is given by Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
99 Homology basis Shortest Basis We associate a weight w(g) 0 with each loop g in T The length of a set of loops G = {g 1,..., g k } is given by Len(G) = k w(g i ) i=1 Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
100 Homology basis Shortest Basis We associate a weight w(g) 0 with each loop g in T The length of a set of loops G = {g 1,..., g k } is given by Len(G) = k w(g i ) i=1 Definition A shortest basis of H 1 (T ) is a set of k loops with minimal length that generates H 1 (T ) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
101 Homology basis Optimal basis for simplicial complex Theorem (Dey-Sun-Wang 2010) Let K be a finite simplicial complex with non-negative weights on edges. A shortest basis for H 1 (K) can be computed in O(n 4 ) time where n = K Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
102 Homology basis Approximation from Point Cloud Let P R d be a point set sampled from a smooth closed manifold M R d embedded isometrically Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
103 Homology basis Approximation from Point Cloud Let P R d be a point set sampled from a smooth closed manifold M R d embedded isometrically We want to approximate a shortest basis of H 1 (M) from P Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
104 Homology basis Approximation from Point Cloud Let P R d be a point set sampled from a smooth closed manifold M R d embedded isometrically We want to approximate a shortest basis of H 1 (M) from P Compute a complex K from P Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
105 Homology basis Approximation from Point Cloud Let P R d be a point set sampled from a smooth closed manifold M R d embedded isometrically We want to approximate a shortest basis of H 1 (M) from P Compute a complex K from P Compute a shortest basis of H 1 (K) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
106 Homology basis Approximation from Point Cloud Let P R d be a point set sampled from a smooth closed manifold M R d embedded isometrically We want to approximate a shortest basis of H 1 (M) from P Compute a complex K from P Compute a shortest basis of H 1 (K) Argue that if P is dense, a subset of computed loops approximate a shortest basis of H 1 (M) within constant factors Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
107 Homology basis Approximation Theorem Theorem (Dey-Sun-Wang 2010) Let M R d be a smooth, closed manifold with l as the length of a shortest basis of H 1 (M) and k = rank H 1 (M). Given a set P M of n points which is an ε-sample of M and 4ε r min{ 1 3 ρ(m), ρ 2 5 c(m)}, one can compute a set of loops G in O(nnen 2 t ) time where r 2 3ρ 2 (M) l Len(G) (1 + 4ε r )l. Here n e, n t are the number of edges and triangles in R 2r (P) Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
108 Conclusions Conclusions Reconstructions : Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
109 Conclusions Conclusions Reconstructions : non-smooth surfaces remain open Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
110 Conclusions Conclusions Reconstructions : non-smooth surfaces remain open high dimensions still not satisfactory Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
111 Conclusions Conclusions Reconstructions : non-smooth surfaces remain open high dimensions still not satisfactory Homology : Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
112 Conclusions Conclusions Reconstructions : non-smooth surfaces remain open high dimensions still not satisfactory Homology : Size of the complexes Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
113 Conclusions Conclusions Reconstructions : non-smooth surfaces remain open high dimensions still not satisfactory Homology : Size of the complexes more efficient algorithms Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
114 Conclusions Conclusions Reconstructions : non-smooth surfaces remain open high dimensions still not satisfactory Homology : Size of the complexes more efficient algorithms Didn t talk about : Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
115 Conclusions Conclusions Reconstructions : non-smooth surfaces remain open high dimensions still not satisfactory Homology : Size of the complexes more efficient algorithms Didn t talk about : functions on spaces Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
116 Conclusions Conclusions Reconstructions : non-smooth surfaces remain open high dimensions still not satisfactory Homology : Size of the complexes more efficient algorithms Didn t talk about : functions on spaces persistence, Reeb graphs, Morse-Smale complexes, Laplace spectra...etc. Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
117 Thank Thank You Dey (2011) Geometry and Topology from Point Cloud Data WALCOM / 51
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