Robust Shape Fitting via Peeling and Grating Coresets

Let P be a set of n points in ℝ ^d . A subset of P is called a (k,ε)-kernel if for every direction, the directional width of ε-approximates that of P, when k “outliers” can be ignored in that direction. We show that a (k,ε)-kernel of P of size O(k/ε ^(d−1)/2) can be computed in time O(n+k ²/ε ^d−1). The new algorithm works by repeatedly “peeling” away (0,ε)-kernels from the point set. We also present a simple ε-approximation algorithm for fitting various shapes through a set of points with at most k outliers. The algorithm is incremental and works by repeatedly “grating” critical points into a working set, till the working set provides the required approximation. We prove that the size of the working set is independent of n, and thus results in a simple and practical, near-linear ε-approximation algorithm for shape fitting with outliers in low dimensions. We demonstrate the practicality of our algorithms by showing their empirical performance on various inputs and problems. A preliminary version of this paper appeared in Proceedings of the 17th Annual ACM-SIAM Symposium on Discrete Algorithms, pp. 182–191. P.A. and H.Y. are supported by NSF under grants CCR-00-86013, EIA-01-31905, CCR-02-04118, and DEB-04-25465, by ARO grants W911NF-04-1-0278 and DAAD19-03-1-0352, and by a grant from the U.S.–Israel Binational Science Foundation. S.H.-P. is supported by a NSF CAREER award CCR-0132901.