arXiv subjects

Jacobus Conradi

Publications and source records attributed to Jacobus Conradi.

At least 19 recordsLinked to original sources

arXiv2026

A Sublinear Approximation Algorithm for Minimum Dilation Trees in the Plane

The dilation of a geometric graph measures how much longer the path between pairs of points becomes when restricted to graph edges, rather than following the direct path through the ambient space. The minimum dilation tree of a point set is the spanning tree with minimum dilation, where edge lengths in the tree are given by distances in the ambient space. In the Euclidean plane, computing the minimum dilation tree is NP-hard, but no hardness of approximation result is known. On the other hand, the minimum spanning tree is an $(n-1)$-approximation to the minimum dilation tree, but no asymptotically-better approximation algorithm is known for general point sets in the Euclidean plane. We give the first sublinear approximation algorithm for the minimum dilation tree in the Euclidean plane. Our approximation ratio is $\tilde{O}(n^{14/15})$ and our algorithm runs in polynomial time. This resolves an open problem proposed by Eppstein in 1996.

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arXiv2026

Computing All Optimal Partial $p$-Wasserstein Matchings on the Line

For $p \ge 1$, the $p$-Wasserstein distance measures the minimum cost of transporting probability mass between distributions, where moving unit mass between two points costs the $p$th power of their distance. For discrete distributions in one dimension, full transport is especially simple: after sorting, mass is matched in order along the line. By contrast, partial and unbalanced transport on the line remains much less understood. Recently, Chapel and Tavenard [ICLR'25] showed that, for $p=1$, all optimal partial transport plans between distributions supported on $n$ points, with uniform mass at each point, can be computed in $O(n\log n)$ time by exploiting the metric structure of the cost. For $p>1$, this structure no longer applies, and existing approaches require $\Omega(n^2)$ time. Our main contribution is an FFT-based data structure for balanced-interval transport queries, which bypasses this quadratic bottleneck and yields an $O(p\,n\log^2 n)$-time algorithm for computing all optimal partial transports on the line for every finite $p\ge 1$. We also provide an open-source C++ implementation that outperforms the state-of-the-art baseline on a range of synthetic instances. Finally, we establish a conditional lower bound for $p=\infty$: any subquadratic-time algorithm for computing all optimal partial transport plan costs on the line would violate the $(\min,+)$-Convolution Hypothesis. This separates the problem from full optimal transport, which is solvable in $O(n\log n)$.

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arXiv2026

Computing Planar Convex Hulls with a Promise

Computing the convex hull of a planar $n$-point set $P$ is one of the most fundamental problems in computational geometry. It has an $\Omega(n \log n)$ lower bound in the algebraic computation tree model, and many convex hull algorithms match this bound. Classical results show that, under special input assumptions, sub-$O(n \log n)$ algorithms are possible. For instance, when the points are given in lexicographic or angular order, the convex hull can be computed in linear time. Even under the weaker assumption that the sequence of points corresponds to the ordered vertices of a simple polygonal chain, linear-time algorithms exist. This naturally raises the question: can the convex hull of a point set be computed in sub-$O(n \log n)$ time under weaker input assumptions? We answer this positively. Under the promise that the input sequence contains the convex hull as a subsequence, we give a deterministic $O(n \sqrt{\log n})$-time algorithm to compute the convex hull of $P$. With randomisation, we achieve expected running time $O(n \log^{\varepsilon} n)$ for any constant $\varepsilon > 0$. We find this surprising, as points not on the convex hull may behave adversarially toward our convex hull construction algorithm. Yet the promise that \emph{only} the hull points are sorted suffices for $o(n \log n)$-time algorithms. Finally, we show that this promise is tight: if it is even slightly broken, i.e., allowing just one hull point to appear out of order, we prove an adversarial $\Omega(n \log n)$-time lower bound. Consequently, the promise cannot be verified with fewer than $\Omega(n \log n)$ comparisons. This also negatively resolves an open problem of L\"{o}ffler and Raichel, who conjectured sub-$O(n \log n)$-time algorithms for computing the convex hull of a supersequence containing the hull as a subsequence.

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arXiv2026

Near-tight Bounds for Computing the Fr\'echet Distance in d-Dimensional Grid Graphs and the Implications for {\lambda}-low Dense Curves

The Fr\'echet distance is a popular distance measure between trajectories or curves in space, or between walks in graphs. We study computing the Fr\'echet distance between walks in the $d$-dimensional grid graphs, i.e. $\mathbb{Z}^d$ where points share an edge if they differ by one in one coordinate. We give an algorithm, that for two simple paths on $n$ vertices, $(1+\varepsilon)$-approximates the Fr\'echet distance in time $\widetilde{O}((\frac{n}{\varepsilon})^{2-2/d} +n)$. We complement this by a near-matching fine-grained lower bound: for constant dimensions $d \geq 3$, there is no $O((\varepsilon^{2/d}(\frac{n}{\varepsilon})^{2-2/d})^{1-\delta})$ algorithm for any $\delta>0$ unless the Orthogonal Vector Hypothesis fails. Thus, our results are tight up to a factor $\varepsilon^{2/d}$ and $\log(n)$-factors. We extend our results to imbalanced lower and upper bounds, where the curves have $n$ and $m$ vertices respectively, and also obtain near-tight bounds. Driemel, Har-Peled and Wenk [DCG'12] studied \emph{realistic assumptions} for curves to speed up Fr\'echet distance computation. One of these assumptions is $\lambda$-low density and they can compute a $(1+\varepsilon)$-approximation between $\lambda$-low dense curves in time $\widetilde{O}( \varepsilon^{-2} \lambda^2 n^{2(1-1/d)})$. By adapting our lower bound, we show that their algorithm has a tight dependency on $n$ and a tight dependency on $\varepsilon$ as $d$ goes to infinity. A gap remains in terms of $\lambda$.

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arXiv2026

On Small Pair Decompositions for Point Sets

$\newcommand{\Re}{\mathbb{R}}$We study the minWSPD problem of computing the minimum-size well-separated pairs decomposition of a set of points, and show constant approximation algorithms in low-dimensional Euclidean space and doubling metrics. This problem is computationally hard already $\Re^2$, and is also hard to approximate. We also introduce a new pair decomposition, removing the requirement that the diameters of the parts should be small. Surprisingly, we show that in a general metric space, one can compute such a decomposition of size $O( \tfrac{n}{\varepsilon}\log n)$, which is dramatically smaller than the quadratic bound for WSPDs. In $\Re^d$, the bound improves to $O( d \tfrac{n}{\varepsilon}\log \tfrac{1}{\varepsilon } )$.

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arXiv2025

On computing the (exact) Fr\'echet distance with a frog

The continuous Frechet distance between two polygonal curves is classically computed by exploring their free space diagram. Recently, Har-Peled, Raichel, and Robson [SoCG'25] proposed a radically different approach: instead of directly traversing the continuous free space, they approximate the distance by computing paths in a discrete graph derived from the discrete free space, recursively bisecting edges until the discrete distance converges to the continuous Frechet distance. They implement this so-called frog-based technique and report substantial practical speedups over the state of the art. We revisit the frog-based approach and address three of its limitations. First, the method does not compute the Frechet distance exactly. Second, the recursive bisection procedure only introduces the monotonicity events required to realise the Frechet distance asymptotically, that is, only in the limit. Third, the applied simplification technique is heuristic. Motivated by theoretical considerations, we develop new techniques that guarantee exactness, polynomial-time convergence, and near-optimal lossless simplifications. We provide an open-source C++ implementation of our variant. Our primary contribution is an extensive empirical evaluation. As expected, exact computation introduces overhead and increases the median running time. Yet, our method is often faster in the worst case, the slowest ten percent of instances, or even on average due to its convergence guarantees. More surprisingly, in our experiments, the implementation of Bringmann, Kuennemann, and Nusser [SoCG'19] consistently outperforms all frog-based approaches in practice. This appears to contrast published claims of the efficiency of the frog-based techniques. These results thereby provide nuanced perspective on frogs: highlighting both the theoretical appeal, but also the practical limitations.

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arXiv2025

The Contiguous Art Gallery Problem is in {\Theta}(n log n)

Recently, a natural variant of the Art Gallery problem, known as the \emph{Contiguous Art Gallery problem} was proposed. Given a simple polygon $P$, the goal is to partition its boundary $\partial P$ into the smallest number of contiguous segments such that each segment is completely visible from some point in $P$. Unlike the classical Art Gallery problem, which is NP-hard, this variant is polynomial-time solvable. At SoCG~2025, three independent works presented algorithms for this problem, each achieving a running time of $O(k n^5 \log n)$ (or $O(n^6\log n)$), where $k$ is the size of an optimal solution. Interestingly, these results were obtained using entirely different approaches, yet all led to roughly the same asymptotic complexity, suggesting that such a running time might be inherent to the problem. We show that this is not the case. In the real RAM-model, the prevalent model in computational geometry, we present an $O(n \log n)$-time algorithm, achieving an $O(k n^4)$ factor speed-up over the previous state-of-the-art. We also give a straightforward sorting-based lower bound by reducing from the set intersection problem. We thus show that the Contiguous Art Gallery problem is in $\Theta(n \log n)$.

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arXiv2025

Algorithms and Lower Bounds for the Maximum Overlap of Two Polygons Under Translation

A fundamental problem in shape matching and geometric similarity is computing the maximum area overlap between two polygons under translation. For general simple polygons, the best-known algorithm runs in $O((nm)^2 \log(nm))$ time [Mount, Silverman, Wu 96], where $n$ and $m$ are the complexities of the input polygons. In a recent breakthrough, Chan and Hair gave a linear-time algorithm for the special case when both polygons are convex. A key challenge in computational geometry is to design improved algorithms for other natural classes of polygons. We address this by presenting an $O((nm)^{3/2} \log(nm))$-time algorithm for the case when both polygons are orthogonal. This is the first algorithm for polygon overlap on orthogonal polygons that is faster than the almost 30 years old algorithm for simple polygons. Complementing our algorithmic contribution, we provide $k$-SUM lower bounds for problems on simple polygons with only orthogonal and diagonal edges. First, we establish that there is no algorithm for polygon overlap with running time $O(\max(n^2,nm^2)^{1-\varepsilon})$, where $m\leq n$, unless the $k$-SUM hypothesis fails. This matches the running time of our algorithm when $n=m$. We use part of the above construction to also show a lower bound for the polygon containment problem, a popular special case of the overlap problem. Concretely, there is no algorithm for polygon containment with running time $O(n^{2-\varepsilon})$ under the $3$-SUM hypothesis, even when the polygon to be contained has $m=O(1)$ vertices. Our lower bound shows that polygon containment for these types of polygons (i.e., with diagonal edges) is strictly harder than for orthogonal polygons, and also strengthens the previously known lower bounds for polygon containment. Furthermore, our lower bounds show tightness of the algorithm of [Mount, Silverman, Wu 96] when $m=O(1)$.

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arXiv2025

Computing the Fr\'echet Distance When Just One Curve is $c$-Packed: A Simple Almost-Tight Algorithm

We study approximating the continuous Fr\'echet distance of two curves with complexity $n$ and $m$, under the assumption that only one of the two curves is $c$-packed. Driemel, Har{-}Peled and Wenk DCG'12 studied Fr\'echet distance approximations under the assumption that both curves are $c$-packed. In $\mathbb{R}^d$, they prove a $(1+\varepsilon)$-approximation in $\tilde{O}(d \, c\,\frac{n+m}{\varepsilon})$ time. Bringmann and K\"unnemann IJCGA'17 improved this to $\tilde{O}(c\,\frac{n + m }{\sqrt{\varepsilon}})$ time, which they showed is near-tight under SETH. Recently, Gudmundsson, Mai, and Wong ISAAC'24 studied our setting where only one of the curves is $c$-packed. They provide an involved $\tilde{O}( d \cdot (c+\varepsilon^{-1})(cn\varepsilon^{-2} + c^2m\varepsilon^{-7} + \varepsilon^{-2d-1}))$-time algorithm when the $c$-packed curve has $n$ vertices and the arbitrary curve has $m$, where $d$ is the dimension in Euclidean space. In this paper, we show a simple technique to compute a $(1+\varepsilon)$-approximation in $\mathbb{R}^d$ in time $O(d \cdot c\,\frac{n+m}{\varepsilon}\log\frac{n+m}{\varepsilon})$ when one of the curves is $c$-packed. Our approach is not only simpler than previous work, but also significantly improves the dependencies on $c$, $\varepsilon$, and $d$. Moreover, it almost matches the asymptotically tight bound for when both curves are $c$-packed. Our algorithm is robust in the sense that it does not require knowledge of $c$, nor information about which of the two input curves is $c$-packed.

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arXiv2025

Simpler and Faster Contiguous Art Gallery

The contiguous art gallery problem was introduced at SoCG'25 in a merged paper that combined three simultaneous results, each achieving a polynomial-time algorithm for the problem. This problem is a variant of the classical art gallery problem, first introduced by Klee in 1973. In the contiguous art gallery problem, we are given a polygon P and asked to determine the minimum number of guards needed, where each guard is assigned a contiguous portion of the boundary of P that it can see, such that all assigned portions together cover the boundary of P. The classical art gallery problem is NP-hard and ER-complete, and the three independent works investigated whether this variant admits a polynomial-time solution. Each of these works indeed presented such a solution, with the fastest running in O(k n^5 log n) time, where n denotes the number of vertices of P and k is the size of a minimum guard set covering the boundary of P. We present a solution that is both considerably simpler and significantly faster, yielding a concise and almost entirely self-contained O(k n^2 log^2 n)-time algorithm.

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arXiv2025

Computing Non-Obtuse Triangulations with Few Steiner Points

We present the winning implementation of the Seventh Computational Geometry Challenge (CG:SHOP 2025). The task in this challenge was to find non-obtuse triangulations for given planar regions, respecting a given set of constraints consisting of extra vertices and edges that must be part of the triangulation. The goal was to minimize the number of introduced Steiner points. Our approach is to maintain a constrained Delaunay triangulation, for which we repeatedly remove, relocate, or add Steiner points. We use local search to choose the action that improves the triangulation the most, until the resulting triangulation is non-obtuse.

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arXiv2025

Subtrajectory Clustering and Coverage Maximization in Cubic Time, or Better

Many application areas collect unstructured trajectory data. In subtrajectory clustering, one is interested to find patterns in this data using a hybrid combination of segmentation and clustering. We analyze two variants of this problem based on the well-known \textsc{SetCover} and \textsc{CoverageMaximization} problems. In both variants the set system is induced by metric balls under the Fr\'echet distance centered at polygonal curves. Our algorithms focus on improving the running time of the update step of the generic greedy algorithm by means of a careful combination of sweeps through a candidate space. In the first variant, we are given a polygonal curve $P$ of complexity $n$, distance threshold $\Delta$ and complexity bound $\ell$ and the goal is to identify a minimum-size set of center curves $\mathcal{C}$, where each center curve is of complexity at most $\ell$ and every point $p$ on $P$ is covered. A point $p$ on $P$ is covered if it is part of a subtrajectory $\pi_p$ of $P$ such that there is a center $c\in\mathcal{C}$ whose Fr\'echet distance to $\pi_p$ is at most $\Delta$. We present an approximation algorithm for this problem with a running time of $O((n^2\ell + \sqrt{k_\Delta}n^{5/2})\log^2n)$, where $k_\Delta$ is the size of an optimal solution. The algorithm gives a bicriterial approximation guarantee that relaxes the Fr\'echet distance threshold by a constant factor and the size of the solution by a factor of $O(\log n)$. The second problem variant asks for the maximum fraction of the input curve $P$ that can be covered using $k$ center curves, where $k\leq n$ is a parameter to the algorithm. Here, we show that our techniques lead to an algorithm with a running time of $O((k+\ell)n^2\log^2 n)$ and similar approximation guarantees. Note that in both algorithms $k,k_\Delta\in O(n)$ and hence the running time is cubic, or better if $k\ll n$.

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arXiv2025

Transforming Dogs on the Line: On the Fr\'echet Distance Under Translation or Scaling in 1D

The Fr\'echet distance is a computational mainstay for comparing polygonal curves. The Fr\'echet distance under translation, which is a translation invariant version, considers the similarity of two curves independent of their location in space. It is defined as the minimum Fr\'echet distance that arises from allowing arbitrary translations of the input curves. This problem and numerous variants of the Fr\'echet distance under some transformations have been studied, with more work concentrating on the discrete Fr\'echet distance, leaving a significant gap between the discrete and continuous versions of the Fr\'echet distance under transformations. Our contribution is twofold: First, we present an algorithm for the Fr\'echet distance under translation on 1-dimensional curves of complexity n with a running time of $\mathcal{O}(n^{8/3} log^3 n)$. To achieve this, we develop a novel framework for the problem for 1-dimensional curves, which also applies to other scenarios and leads to our second contribution. We present an algorithm with the same running time of $\mathcal{O}(n^{8/3} \log^3 n)$ for the Fr\'echet distance under scaling for 1-dimensional curves. For both algorithms we match the running times of the discrete case and improve the previously best known bounds of $\tilde{\mathcal{O}}(n^4)$. Our algorithms rely on technical insights but are conceptually simple, essentially reducing the continuous problem to the discrete case across different length scales.

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arXiv2024

Revisiting the Fr\'echet distance between piecewise smooth curves

Since its introduction to computational geometry by Alt and Godau in 1992, the Fr\'echet distance has been a mainstay of algorithmic research on curve similarity computations. The focus of the research has been on comparing polygonal curves, with the notable exception of an algorithm for the decision problem for planar piecewise smooth curves due to Rote (2007). We present an algorithm for the decision problem for piecewise smooth curves that is both conceptually simpler and naturally extends to the first algorithm for the problem for piecewise smooth curves in $\mathbb{R}^d$. We assume that the algorithm is given two continuous curves, each consisting of a sequence of $m$, resp.\ $n$, smooth pieces, where each piece belongs to a sufficiently well-behaved class of curves, such as the set of algebraic curves of bounded degree. We introduce a decomposition of the free space diagram into a controlled number of pieces that can be used to solve the decision problem similarly to the polygonal case, in $O(mn)$ time, leading to a computation of the Fr\'echet distance that runs in $O(mn\log(mn))$ time. Furthermore, we study approximation algorithms for piecewise smooth curves that are also $c$-packed for some fixed value $c$. We adapt the existing framework for $(1+\epsilon)$-approximations and show that an approximate decision can be computed in $O(cn/\epsilon)$ time for any $\epsilon > 0$.

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arXiv2023

Fast Approximations and Coresets for (k, l)-Median under Dynamic Time Warping

We present algorithms for the computation of $\varepsilon$-coresets for $k$-median clustering of point sequences in $\mathbb{R}^d$ under the $p$-dynamic time warping (DTW) distance. Coresets under DTW have not been investigated before, and the analysis is not directly accessible to existing methods as DTW is not a metric. The three main ingredients that allow our construction of coresets are the adaptation of the $\varepsilon$-coreset framework of sensitivity sampling, bounds on the VC dimension of approximations to the range spaces of balls under DTW, and new approximation algorithms for the $k$-median problem under DTW. We achieve our results by investigating approximations of DTW that provide a trade-off between the provided accuracy and amenability to known techniques. In particular, we observe that given $n$ curves under DTW, one can directly construct a metric that approximates DTW on this set, permitting the use of the wealth of results on metric spaces for clustering purposes. The resulting approximations are the first with polynomial running time and achieve a very similar approximation factor as state-of-the-art techniques. We apply our results to produce a practical algorithm approximating $(k,\ell)$-median clustering under DTW.

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arXiv2023

Finding Complex Patterns in Trajectory Data via Geometric Set Cover

Clustering trajectories is a central challenge when faced with large amounts of movement data such as GPS data. We study a clustering problem that can be stated as a geometric set cover problem: Given a polygonal curve of complexity $n$, find the smallest number $k$ of representative trajectories of complexity at most $l$ such that any point on the input trajectories lies on a subtrajectory of the input that has Fr\'echet distance at most $\Delta$ to one of the representative trajectories. In previous work, Br\"uning et al.~(2022) developed a bicriteria approximation algorithm that returns a set of curves of size $O(kl\log(kl))$ which covers the input with a radius of $11\Delta$ in time $\widetilde{O}((kl)^2n + kln^3)$, where $k$ is the smallest number of curves of complexity $l$ needed to cover the input with a radius of $\Delta$. The representative trajectories computed by this algorithm are always line segments. In the applications however, one is usually interested in more complex representative curves which consist of several edges. We present a new approach that builds upon previous work computing a set of curves of size $O(k\log(n))$ in time $\widetilde{O}(l^2n^4 + kln^4)$ with the same distance guarantee of $11\Delta$, where each curve may consist of curves of complexity up to the given complexity parameter~$l$. We conduct experiments on tracking data of ocean currents and full body motion data suggesting its validity as a tool for analyzing large spatio-temporal data sets.

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arXiv2023

$(1+\varepsilon)$-ANN Data Structure for Curves via Subspaces of Bounded Doubling Dimension

We consider the $(1+\varepsilon)$-Approximate Nearest Neighbour (ANN) Problem for polygonal curves in $d$-dimensional space under the Fr\'echet distance and ask to what extent known data structures for doubling spaces can be applied to this problem. Initially, this approach does not seem viable, since the doubling dimension of the target space is known to be unbounded -- even for well-behaved polygonal curves of constant complexity in one dimension. In order to overcome this, we identify a subspace of curves which has bounded doubling dimension and small Gromov-Hausdorff distance to the target space. We then apply state-of-the-art techniques for doubling spaces and show how to obtain a data structure for the $(1+\varepsilon)$-ANN problem for any set of parametrized polygonal curves. The expected preprocessing time needed to construct the data-structure is $F(d,k,S,\varepsilon)n\log n$ and the space used is $F(d,k,S,\varepsilon)n$, with a query time of $F(d,k,S,\varepsilon)\log n + F(d,k,S,\varepsilon)^{-\log(\varepsilon)}$, where $F(d,k,S,\varepsilon)=O\left(2^{O(d)}k\Phi(S)\varepsilon^{-1}\right)^k$ and $\Phi(S)$ denotes the spread of the set of vertices and edges of the curves in $S$. We extend these results to the realistic class of $c$-packed curves and show improved bounds for small values of $c$.

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arXiv2022

Learning Depth Vision-Based Personalized Robot Navigation From Dynamic Demonstrations in Virtual Reality

For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning framework complemented by a perception pipeline to train a depth vision-based, personalized navigation controller from user demonstrations. Our virtual reality interface enables the demonstration of robot navigation trajectories under motion of the user for dynamic interaction scenarios. The novel perception pipeline enrolls a variational autoencoder in combination with a motion predictor. It compresses the perceived depth images to a latent state representation to enable efficient reasoning of the learning agent about the robot's dynamic environment. In a detailed analysis and ablation study, we evaluate different configurations of the perception pipeline. To further quantify the navigation controller's quality of personalization, we develop and apply a novel metric to measure preference reflection based on the Fr\'echet Distance. We discuss the robot's navigation performance in various virtual scenes and demonstrate the first personalized robot navigation controller that solely relies on depth images. A supplemental video highlighting our approach is available online.

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