Graph search is one of the most successful algorithmic trends in near neighbor search. Severalofthemostpopular andempirically successful algorithms are,at their core, a greedy walk along a pruned near neighbor graph.

For large-scale databases the sequential scan with theO(nd) complexity is not feasible, and the efficient approximate methods arerequired.

Graph search is one of the most successful algorithmic trends in near neighbor search. Several of the most popular and empirically successful algorithms are, at their core, a greedy walk along a pruned near neighbor graph. However, graph traversal applications often suffer from poor memory access patterns, and near neighbor search is no exception to this rule. Our measurements show that popular search indices such as the hierarchical navigable small-world graph (HNSW) can have poor cache miss performance. To address this issue, we formulate the graph traversal problem as a cache hit maximization task and propose multiple graph reordering as a solution. Graph reordering is a memory layout optimization that groups commonly-accessed nodes together in memory.

Geometric methods rely on tensors that can be encoded using a symbolic formula and data arrays, such as kernel and distance matrices. We present an extension for standard machine learning frameworks that provides comprehensive support for this abstraction on CPUs and GPUs: our toolbox combines a versatile, transparent user interface with fast runtimes and low memory usage. Unlike general purpose acceleration frameworks such as XLA, our library turns generic Python code into binaries whose performances are competitive with state-of-the-art geometric libraries - such as FAISS for nearest neighbor search - with the added benefit of flexibility. We perform an extensive evaluation on a broad class of problems: Gaussian modelling, K-nearest neighbors search, geometric deep learning, non-Euclidean embeddings and optimal transport theory. In practice, for geometric problems that involve 1k to 1M samples in dimension 1 to 100, our library speeds up baseline GPU implementations by up to two orders of magnitude.

We present a new algorithm for the approximate near neighbor problem that combines classical ideas from group testing with locality-sensitive hashing (LSH). We reduce the near neighbor search problem to a group testing problem by designating neighbors as positives, non-neighbors as negatives, and approximate membership queries as group tests.

LiDAR-inertial odometry (LIO) is an active research area, as it enables accurate real-time state estimation in GPS-denied environments. Recent advances in map data structures and spatial indexing have significantly improved the efficiency of LIO systems. Nevertheless, we observe that two aspects may still leave room for improvement: (1) nearest neighbor search often requires examining multiple spatial units to gather sufficient points for plane fitting, and (2) plane parameters are typically recomputed at every iteration despite unchanged map geometry. Motivated by these observations, we propose Surfel-LIO, which employs a hierarchical voxel structure (hVox) with pre-computed surfel representation. This design enables O(1) correspondence retrieval without runtime neighbor enumeration or plane fitting, combined with Z-order curve encoding for cache-friendly spatial indexing. Experimental results on the M3DGR dataset demonstrate that our method achieves significantly faster processing speed compared to recent state-of-the-art methods while maintaining comparable state estimation accuracy. Our implementation is publicly available at https://github.com/93won/lidar_inertial_odometry.

NNS problem and should be used for the original data.

Analysis and processing of data is a vital part of our modern society and requires vast amounts of computational resources. To reduce the computational burden, compressing and approximating data has become a central topic. We consider the approximation of labeled data samples, mathematically described as site-to-value maps between finite metric spaces. Within this setting, we identify the discrete modulus of continuity as an effective data-intrinsic quantity to measure regularity of site-to-value maps without imposing further structural assumptions. We investigate the consistency of the discrete modulus of continuity in the infinite data limit and propose an algorithm for its efficient computation. Building on these results, we present a sample based approximation theory for labeled data. For data subject to statistical uncertainty we consider multilevel approximation spaces and a variant of the multilevel Monte Carlo method to compute statistical quantities of interest. Our considerations connect approximation theory for labeled data in metric spaces to the covering problem for (random) balls on the one hand and the efficient evaluation of the discrete modulus of continuity to combinatorial optimization on the other hand. We provide extensive numerical studies to illustrate the feasibility of the approach and to validate our theoretical results.