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Aristides Gionis

Department of Computer Science Stanford University Stanford, CA 94305

Piotr Indyky

Rajeev Motwaniz

fgionis,indyk,rajeevg@cs.stanford.edu

Abstract

The nearest- or near-neighbor query problems arise in a large variety of database applications, usually in the context of similarity searching. Of late, there has been increasing interest in building search index structures for performing similarity search over high-dimensional data, e.g., image databases, document collections, time-series databases, and genome databases. Unfortunately, all known techniques for solving this problem fall prey to the curse of dimensionality." That is, the data structures scale poorly with data dimensionality; in fact, if the number of dimensions exceeds 10 to 20, searching in k-d trees and related structures involves the inspection of a large fraction of the database, thereby doing no better than brute-force linear search. It has been suggested that since the selection of features and the choice of a distance metric in typical applications is rather heuristic, determining an approximate nearest neighbor should su ce for most practical purposes. In this paper, we examine a novel scheme for approximate similarity search based on hashing. The basic idea is to hash the points

Supported by NAVY N00014-96-1-1221 grant and NSF Grant IIS-9811904. ySupported by Stanford Graduate Fellowship and NSF NYI Award CCR-9357849. zSupported by ARO MURI Grant DAAH04-96-1-0007, NSF Grant IIS-9811904, and NSF Young Investigator Award CCR9357849, with matching funds from IBM, Mitsubishi, Schlumberger Foundation, Shell Foundation, and Xerox Corporation. Permission to copy without fee all or part of this material is granted provided that the copies are not made or distributed for direct commercial advantage, the VLDB copyright notice and the title of the publication and its date appear, and notice is given that copying is by permission of the Very Large Data Base Endowment. To copy otherwise, or to republish, requires a fee and or special permission from the Endowment.

Proceedings of the 25th VLDB Conference, Edinburgh, Scotland, 1999.

from the database so as to ensure that the probability of collision is much higher for objects that are close to each other than for those that are far apart. We provide experimental evidence that our method gives signi cant improvement in running time over other methods for searching in highdimensional spaces based on hierarchical tree decomposition. Experimental results also indicate that our scheme scales well even for a relatively large number of dimensions more than 50.

1 Introduction

A similarity search problem involves a collection of objects e.g., documents, images that are characterized by a collection of relevant features and represented as points in a high-dimensional attribute space; given queries in the form of points in this space, we are required to nd the nearest most similar object to the query. The particularly interesting and well-studied case is the d-dimensional Euclidean space. The problem is of major importance to a variety of applications; some examples are: data compression 20 ; databases and data mining 21 ; information retrieval 11, 16, 38 ; image and video databases 15, 17, 37, 42 ; machine learning 7 ; pattern recognition 9, 13 ; and, statistics and data analysis 12, 27 . Typically, the features of the objects of interest are represented as points in d and a distance metric is used to measure similarity of objects. The basic problem then is to perform indexing or similarity searching for query objects. The number of features i.e., the dimensionality ranges anywhere from tens to thousands. For example, in multimedia applications such as IBM's QBIC Query by Image Content, the number of features could be several hundreds 15, 17 . In information retrieval for text documents, vector-space representations involve several thousands of dimensions, and it is considered to be a dramatic improvement that dimension-reduction techniques, such as the Karhunen-Lo eve transform 26, 30 also known as principal components analysis 22 or latent semantic indexing 11 , can reduce the dimensionality to a mere few hundreds!

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no indexing method exhibiting linear or close to linear dependence on the data size could manage such a huge data set. possibly followed by a slower but more accurate computation in the few cases where the user is not satis ed with the approximate answer. it was shown in 45 that. such as dot product 5 .g. Thus. including using random sampling for histogram estimation 8 and median approximation 33 . Then in Section 3 we describe locality-sensitive hashing and show how to apply it to nearest neighbor search. they provide little improvement over a linear algorithm which compares a query to each point from the database. for d up to 64.. it enabled us to achieve worst-case Odn1= time for approximate nearest neighbor query over an n-point database. the so-called curse of dimensionality. for large enough d. In Section 4 we report the results of experiments with LSH. We observe that there are many applications of nearest neighbor search where an approximate answer is good enough. we introduce a new indexing method for approximate nearest neighbor with a truly sublinear dependence on the data size even for high-dimensional data. they can also be naturally extended to the dynamic setting. This yields an approximate nearest neighbor algorithm running in sublinear time for any 0. In Section 2 we introduce the notation and give formal de nitions of the similarity search problems. The rest of this paper is organized as follows. The experiments show that our algorithm is signi cantly faster than the earlier methods. this is a desirable property of a good similarity measure. determining an approximate answer should sufce refer to Section 2 for a formal de nition. The above arguments rely on the assumption that approximate similarity search can be performed much faster than the exact one. We provide such locality-sensitive hash functions that are simple and easy to implement. All our tables were stored on disk. Clearly. the number of images to index would be at least of the order tens if not hundreds of million. Finally.000 points representing texture information of blocks of large aerial photographs. i.g.000 histograms of color images. using wavelets for selectivity estimation 34 and approximate SVD 25 .e. In such cases.e. where each histogram was represented as a point in d-dimensional space. The related work is described in Section 5. The key idea is to hash the points using several hash functions so as to ensure that. The rst contains 20. in some cases even by several orders of magnitude. In particular. an approximate algorithm provides the user with a time-quality tradeo | the user can decide whether to spend more time waiting for the exact answer. In this paper we show that this is indeed the case. For example. We compared the performance of our algorithm with the performance of the Sphere Rectangle-tree SR-tree 28 . in fact. the current solutions are not entirely satisfactory. so the main issue is that of dealing with a large number of dimensions. Furthermore.. Further. we generalize the algorithm and its analysis to the case of external memory. This situation poses a serious obstacle to the future development of large scale similarity search systems. The premise of this paper is that in many cases it is not necessary to insist on the exact answer. di erent LSH functions can be also used for other similarity measures.. Instead of using space partitioning. instead. in Section 6 we present conclusions and ideas for future research. Then. when insertion and deletion operations also need to be supported. it relies on a new method called localitysensitive hashing LSH. Imagine for example a search engine which enables contentbased image retrieval on the World-Wide Web. q = 519 . both empirically and theoretically. dpp. one can deter- mine near neighbors by hashing the query point and retrieving elements stored in buckets containing that point. In other situations. This observation underlies a large body of recent research in databases. It also scales well as the data size and dimensionality increase. for each function. Locality-Sensitive Hashing was introduced by Indyk and Motwani 24 for the purposes of devising main memory algorithms for nearest neighbor search. the probability of collision is much higher for objects which are close to each other than for those which are far apart. We performed experiments on two data sets. : : :xd is de ned as jx1jp + : : : + jxd jp1=p .." Despite decades of intensive e ort.The low-dimensional case say. In this paper we improve that technique and achieve a signi cantly improved query time of Odn1=1+ . or to be satis ed with a much quicker approximation e. 2 Preliminaries d to denote the Euclidean space d under the We use lp lp norm. it often happens e. Although in this paper we are focused on Euclidean spaces. when the length of a vector x1 . in fact. a recent data structure which was shown to be comparable to or signi cantly more e cient than other tree-decomposition-based indexing methods for spatial data. see 23 that the relevant answers are much closer to the query point than the irrelevant ones. for d equal to 2 or 3 is well-solved 14 . Speci cally. If the system was to index a signi cant fraction of the web. i. the approximate algorithm with a suitable approximation factor will return the same result as an exact algorithm. The second contains around 270. We support our theoretical arguments by empirical evidence. see 5 . all current indexing techniques based on space partitioning degrade to linear search for su ciently high dimensions. it enables a new approach to high-performance similarity search | fast retrieval of approximate answer. in theory or in practice. in particular.

is a sequence of x ones followed by C . qjj p denotes the distance between the points p and d . We use H d to denote the Hamming metric q in lp space of dimension d. Moreover. i. where dq. chapter 4 show that comparing color histograms using l1 and l2 norms yields very similar results l1 is marginally better. in the sequel we can concentrate on solving -NNS in the Hamming space H d . 0 Fact 1 For any pair of points p. or even di erence between.e. For example. the analysis is generalized to the case of secondary memory. we emphasize that we do not need to actually convert the data to the unary representation. The rst assumption is not very restrictive. the error induced by rounding can cess P so as to e ciently return a point p 2 P for any proper be made small. for 67 of the queries in the rst set and 73 in the second set the nearest neighbors under l1 and l2 norms were exactly the same. This observation is interesting in its own right. pK such that the distance of pi to the query q is at most 1+ times the distance from the ith nearest point to q. In the Approximate K -NNS problem. vq: That is. q = dH vp. for the data sets for which point q. q denote the Hamming distance. x zeroes. preprocess P so as to e ciently annormed space lp rotated. ation the arbitrarily minimum interpoint distance is 1. Then. The new algorithm is in many respects more natural than the earlier one: it does not require the hash buckets to store only one point. The approximate version of the NNS erly translating the origin of d . we will make the following two assumptions about the data: 1. and.e. We use dH p. we observed that a nearest neighbor of an average query point computed under the l1 norm was also an -approximate neighbor under the l2 norm with an average value of less than 3 this observation holds In this section we present locality-sensitive hashing LSH. we wish to nd K points p1 . Speci cally. the space of binary vectors of length d under the standard Hamming metric. such that dq..jjp . P is the distance of q to the its closest point in P . the experiments done for the Webseek 43 project see 40 . all coordinates of points in P are positive integers. Speci cally. It can be easily veri ed that by choosing d . thus the di erence between l1 and l2 norm swer queries by nding the point in P closest to a query is very small. Moreover. However. i. p 1 + dq. we wish to As far as the second assumption is concerned. return the K points in the database that are closest to clearly all coordinates can be made positive by propthe query point. preproGiven a set P of points in a normed space lp parameters. this de nition generalizes naturally to nding K 1 approximate nearest neighbors. Notice that after this opergiven query point q. by transforming each point p = x1 . we are guaranteed that after performing scaling and random rotation our alThe de nition generalizes naturally to the case gorithms can be used for the l2 norm with arbitrarily where we want to return K 1 points. 0 520 .. Let C be the largest coordinate in all points in P . for both data sets. They showed analytically that by simply applying scaling and random rotation to the space l2 . d1p. where UnaryC x denotes the unary representation of x. in small loss of precision. Therefore.1 Locality-Sensitive Hashing 3 The Algorithm In this section we present e cient solutions to the approximate versions of the NNS problem.e. it has better running time guarantees. This technique was originally introduced by Indyk and Motwani 24 for the purposes of devising main memory algorithms for the -NNS problem. Given a set P of n objects represented as points in a It seems plausible that real data is already randomly d . 2. in most cases i. : : :xd into a binary vector vp = UnaryC x1 : : : UnaryC xd . i. 3. q with coordinates in the set f1 : : :C g. Without signi cant loss of generality. this property does not hold. Both our data sets see Section 4 have a similar property. : : :. using l2 or l1 norm for similarity search. the distance is de ned by the l1 norm see comments below. follows: we can make the distances induced by the l1 and l2 De nition 1 Nearest Neighbor Search NNS norms almost equal up to an arbitrarily small factor. Again. the K -Nearest Neighbors Search K -NNS.e. the embedding preserves the distances between the points. as per 29 . as usually there is no clear advantage in. we can embed P into the Hamming cube H d with d0 = Cd. and can be partially explained via the theorem by Figiel et al see 19 and references The nearest neighbor search problem is de ned as therein. We can then conproblem is de ned as follows: vert all coordinates to integers by multiplying them by a suitably large number and rounding to the nearDe nition 2 -Nearest Neighbor Search -NNS est integer... the number of bits on which p and q di er. Here we give an improved version of their algorithm. P .

As the total number of buckets may be large.e. depending on resources used. However. : : :. For quick reference we summarize the preprocessing where is the memory utilization parameter. pt be the points encountered in the process. the ratio of the memory allocated for the index to the size of the data set. Let p1 . i. : : :. the coordinates in I which correspond to the ith coordinate of p. In our experimental section. of ones followed by zeros. but relies on a simpler approach: if a bucket in a given index is full. say oi . : : :. l S S fpoints found in giq bucket of table Tig Return the K nearest neighbors of q found in set S * Can be found by main memory linear search * Figure 2: Approximate Nearest Neighbor query answering algorithm.which could be expensive when C is large. : : :. Observe. Therefore. i = 1. the unary representation provides us with a convenient framework for description of the algorithms which would be more complicated otherwise. we will assume hashing with chaining. Algorithm Approximate Nearest Neighbor Query Input A query point q. l. The optimal value of k is chosen to maximize the probability that a point p close" to q will fall into the same bucket as q. choose l subsets I1 . and the maximum bucket size B are related by the following equation: M= n .e. We de ne the hash functions as follows. : : :. : : :. This can be done via binary search in log C time.. in general. d0g. our implementation does not employ chaining. n Store point pj on bucket gi pj of hash table Ti Figure 1: Preprocessing algorithm for points already embedded in the Hamming cube. : : :. l Foreach i = 1. a new point cannot be added to it. : : :. l number of hash tables. Output Hash tables Ti. l Initialize hash table Ti by generating a random hash function gi Foreach i = 1. i. For an integer l to be speci ed later. all our algorithms can be made to run in time independent on C . The number n of points. for j = 1. the number of disk accesses is always upper bounded by the number of indices.e.. K number of appr. d0g sampled uniformly at random with replacement. the total time needed to compute the function is either Od log C or Od. The maximal bucket size of the latter hash table is denoted by B . i. : : :. the set Ij consists of k elements from f1. Let pjI denote the projection of vector p on the coordinate set I .. : : :. The choice of the values of l and k is deferred to the next section. we output the K points pi closest to q. the value of C can be made very small. i = 1. This saves us the overhead of maintaining the link structure. since it will be added to some other index with high probability. For Approximate K -NNS. gl q until we either encounter at least c l points for c speci ed later or use all l indices. we search all indices g1q. Rather. It remains to specify the choice of the subsets Ij . l generated by the preprocessing algorithm Output K or less appr. and also to minimize the probability that a point p0 far away" from q will fall into the same bucket. we use two levels of hashing: the LSH function maps a point p to bucket gj p. we store each p 2 P in the bucket gj p. let Iji denote. in fact. that projecting p0 on Iji results in a sequence of bits which is monotone. : : :. a new bucket also of size B is allocated and linked to and from the old bucket. Let p be any point from the data set and let p0 denote its image after the mapping. : : :. i. we compute pjI by selecting the coordinate positions as per I and concatenating the bits in those positions. we compress the buckets by resorting to standard hashing. d. Although we are mainly interested in the I O complexity of our scheme. Let I be the set of coordinates and recall that we need to compute p0jI . in order to represent p0I it is su cient to compute oi for i = 1. Il of f1. or even in constant time using a precomputed array of C bits. However. : : :. : : :.e. B Algorithm Preprocessing Input A set of points P . Thus.. and a standard hash function maps the contents of these buckets into a hash table of size M . nearest neighbors Access To hash tables Ti . For each j 2 f1. 521 . Clearly. the size M of the hash table. Thus. l Foreach j = 1. which is equal to l. lg. when the number of points in a bucket exceeds B . the latter task is equivalent to nding the number of elements in the sorted array Iji which are smaller than a given value. it is worth pointing out that the hash functions can be e ciently computed if the d into d0-dimensional data set is obtained by mapping l1 Hamming space. For the algorithm's analysis. nearest neighbors S Foreach i = 1. and therefore we will resort to the second method. For i = 1. To process a query q. : : : . Denote gj p = pjIj . d.e. the ith coordinate of p.. For the preprocessing. i. we may return fewer points if the number of points encountered is less than K . consists of a number. in sorted order.

r2. d g is r . Observe that if D. we argue that the LSH algorithm solves this problem for a proper choice of k and l. The theorem follows. 3. p2-sensitive family. or whether all points in the database are at least a distance r2 = r1+ away from q.n Theorem 1 Setting k = log1=p2 n=B and l = B guarantees that properties P1 and P2 hold with prob1 ability at least 1 . i i 1 d i for i = 1. : : :. it is bounded from below by pk 1 = p1 log1=p Remark 1 Note that by repeating the LSH algorithm O1= times. r1+ -sensitive. As before. l. hik p. The probability that gp0 = gq for p 2 P . gl .e. we show that 1+ assuming that d r ln n . Denote the set of all points p 2 0 by P . Then for any r. Thus the probability that one such gj exists is at least P1 1 . hik are randomly chosen from H with replacement. for any 0. The correctness of the LSH algoln 1=p2 rithm follows from the following theorem. log 1=p2 = n=B . Set k = log1=p2 n=B . we can amplify the probability of success in at least one trial to 1 . and property P2 hold with probability P . we bound from above the probBy setting l = B ability that gj p 6= gj q for all j = 1. The expected number of blocks allocated for gj which contain exclusively points from P 0 does not exceed 2..g. 1 . Therefore. be a distance function of elements from a set S . p . r2 is at B 0 = Bq. : : :. : log 1=p1 n . . Thus. l by 1=e. The generalization is simple: the functions g are now dened to be of the form gip = hi1 p. we choose l such functions g1 . Let D. r1.and query answering algorithms in Figures 1 and 2. Then we show how to apply the solution to this problem to solve -NNS. 1 2 . q 2 H d . Speci cally. r then PrH hq = hp p . : : :. p0 r2 . then gj p = gj q for some j = 1. If we choose c = 4. r and . the probability that both properties P1 and P2 hold is at least 1 . where the functions hi1 . We observe that the algorithm correctly solves the r. . d d 0 0 0 0 0 0 We now generalize the algorithm from the previous section to an arbitrary locality-sensitive family H. 1 For this case.e 0:132. Assume that H is a r1 . the resulting values of gj p are essentially equivalent to pjIj . Thus. P1 + 1 . 1 . then the family of projections on one coordinate is locality-sensitive. the proof is quite similar otherwise. r . -Neighbor problem: determine whether there exists a point p within a xed distance r1 = r of q. Proof: Let property P1 hold with probability P . : : :. the latter assumption can be easily satis ed by increasing the dimensionality by padding a su ciently long string of 0s at the end of each point's representation. Clearly. r. it has to satisfy the inequalities p1 p2 and r1 r2 . In order for a locality-sensitive family to be useful. In the following we consider the LSH family for the Hamming metric of dimension d0 as speci ed in Fact 2. We will 1 2 2 n=B = n=B . 0 . r denote the set of elements from S within the distance r from p. Assume that there exists a point p within distance r1 of q. the larger the distance. the family Hd = 0 f h : h b . . -Neighbor problem if the following two De nition 3 A family H of functions from S to U is called r . the algorithm is equally applicable to other locality-sensitive hash functions e. Consider now the probability of gj p = gj q. each function selects one bit of an argument. and for any p 2 S let Bp. b = b . : : :. Bq. The expected number of such blocks allocated for all gj is at most 2l. Denote by P 0 the set of all points p0 2 P such that dq. 522 . 1 . the probability that this number exceeds 4l is less than 1=2. i. p1. 1=p1 de ne = ln . P2 = 1 P1 + P2 .1 2 e . by the Markov inequality 35 . see 5 . depending on 0 show that both P1 and P2 are large.2 Analysis of Locality-Sensitive Hashing The principle behind our method is that the probability of collision of two points p and q is closely related to the distance between them. the smaller the collision probability. p 2 S if p 2 Bq. P2 The total number of blocks pointed to by q and containing only points from P 0 is less than cl. probabilities are considered with respect to the random choice of a function h from the family H. This intuition is formalized as follows 24 . 2 In the above de nition. 1=e. hi2 p. q = dH p. in the rst case. : : :. r1 + . the algorithm is required to return a point p0 within distance at most 1 + r from q. if for any q. p -sensitive for D. : : :. In particular. is the Hamming distance dH . r then PrH hq = hp p . 0. q for p. if p 2 = Bq. r2 most pk 2 = n . 1 2 1 2 1 1 2 2 properties hold: P1 If there exists p such that p 2 Bq.. the probability that the property P2 holds is P2 1=2. We now show that the LSH algorithm can be used to solve what we call the r. More speci cally: Fact 2 Let S be H d the d0-dimensional Hamming cube and Dp. In the case when the family Hd is used.

vk = a1 v1 + + ad vk mod M. r=d0d =r = U = ln1ln1 . Thus almost all pairs are approximately within the same distance. r=d0 : ln 1 =p1 r=d = ln 1=p = = 1 ln1 .1. we need to bound U from below and L from above. : : :. The LSH functions can be computed as described in Section 3. Most distributions notably uniform used in the literature assume that all coordinates of each point are chosen independently. so the notion of approximate nearest neighbor is not meaningful | almost every point is an approximate nearest neighbor. 1 + r=d0d =r e. vk .1+ 0 and Therefore.1+ 2 r=d 0 0 0 Multiplying both the numerator and the denominator by dr . If p1 = 1. d r 0 4 Experiments 0 0 1 . q is sharply concentrated around the mean. d 0 0 1 : e. 0 d =r 0 . Under the assumption of distribution invariance.1 1 . Though such data is often used to measure the performance of exact similarity search algorithms. Assume a data set consisting of points chosen independently at random from the same distribution. we found it unsuitable for evaluation of approximate algorithms for the high data dimensionality. n d d 0 0 0 Proof: Observe that ln 1. the same parameter r is likely to work for a vast majority of queries. for example. In such a case. r=d 0 r ln1 . We implement the LSH algorithm as speci ed in Section 3. The rst one contains up to 20. but on the intrinsic properties of the data set. We describe the data sets in more detail later in the section.Fact 3 Let r ln 1=p1 1 then = ln 1+ . r and p2 = 1. r d =r 1. the expected distance p is Od. r1+ . while the standard deviation is only O d. where each histogram was represented as a point in d-dimensional space. we obtain: 0 = d ln1 . To this end we use the following inequalities 35 : 0 produce answers of good quality. 1 + r=d0 ln 1. : : :. The main reason is as follows. Denote the resulting vector of coordinates by v1 . note that both U and L are negative. q the distance dp. Therefore in the experimental section we adopt a xed choice of r and therefore also of k and l. In this section we report the results of our experiments with locality-sensitive hashing method. 1 + r=d . for any pair of points p. for the uniform distribution over the unit cube. For the second level mapping we use functions of the form hv1 . 1 + r=d0d =r L In order to upper bound . Implementation.000 histograms of color images from COREL Draw library. This can be explained as in 10 where it was observed that the distribution of distances between a query point and the data set in most cases does not depend on the speci c query point. We performed experiments on two data sets. for d up to 64.000 points of dimension 60 representing texture information of blocks of large large aerial photographs. 1=p2 ln d . We decided not to use randomly-chosen synthetic data in our experiments. The second one contains around 270.1 ln1 .

ln n = On1=1+ 2 We now return to the -NNS problem. As each coordinate in our data sets can be represented using 1 byte. where r0 and rmax are the smallest and the largest possible distance between the query and the data point. d 1=r = 1=1 + . and are su ciently random for our purposes. -Neighbor problem by building several data structures for the latter problem with di erent values of r. d 1=r = . r01 + 2. respectively.e.. ln1. 1 operations. we could explore r equal to r0. we observed that in practice choosing only one value of r is su cient to where M is the size of the hash table and a1. ak are random numbers from interval 0 : : :M . lne. 1= ln n. 1= ln n where the last step uses the assumptions that d . ln1 . rmax . 1 . More specifically. d 1=r ln e. r01 + . We conclude that and r ln n U L 0 0 0 0 n n1=1+ n. On the other hand.1 + ln1 . These functions can be computed using only 2k . we can store up to 8192=d d-dimensional points per 523 .1= ln n = n1=1+ 1 . 1 + 1=1 + . Each second level bucket is then directly mapped to a disk block. i. we observe that we could reduce it to the r. First. : : :. We assumed that each block is 8KB of data. give low probability of collision. We remark that the number of di erent radii could be further reduced 24 at the cost of increasing running time and space requirement.1+ . : : :.1 1 .1 + ln1 .

For the SR-tree. the 2nd closest one to the 2nd nearest neighbor and so on. The second data set contains 275. where dLSH denotes the distance from a query point q to a point found by LSH. Finally. Performance measures. quantization is performed in order to t each coordinate in 1 byte. By dividing each axis into u intervals we obtain a total of u3 cubes. Both graphs were obtained by computing all interpoint distances of random subsets of 200 points. The error of LSH is measured as follows. we call this quantity miss ratio. B = 300 for d = 27 and B = 1000 for d = 8. We count all disk accesses. Each histogram cube i. as assumed in Section 3. The speed is measured by the number of disk blocks accessed in order to answer a query.. available from his web page 28 . The mean and standard deviation of each ltered output are used to constructed the feature vector d = 30 2 = 60.2 0 0 100 200 300 400 500 600 700 b Texture features Figure 3: The pro les of the data sets.6 0.block. the property of this space is that the distance between each pair of points corresponds to the perceptual dissimilarity between the colors that the two points represent.8 0. The Gabor lter bank consists of 5 scales and 6 orientations of lters. we allow it to store about 8192 coordinates per disk block. it is a natural parameter to optimize. we used the implementation by Katayama. The miss ratio is de ned to be the fraction of cases when less than K points were found.6 0. color then corresponds to a dimension of space representing the images. Our rst data set consists of 20. Then we partitioned the color space into a grid of smaller cubes.2 0 0 1000 2000 a Color histograms Texture data set point distribution 1 3000 4000 5000 Interpoint distance 6000 7000 8000 Normalized frequency 0. we assumed u = 4 obtaining a 64-dimensional space. Manjunath 31. The goal of our experiments was to estimate two performance measures: speed for both SR-tree and LSH and accuracy for LSH. We also measure the small fraction of queries for which no nonempty bucket was found. 32 . and the sum is taken of all queries for which a nonempty index was found. The histograms were extracted after transforming the pixels of the images to the 3-dimensional CIE-Lab color space 44 .e. we create the color histogram of the image by counting how many pixels fall into each of these cubes. integers.S. its size and dimensionality provides challenging problems in high dimensional indexing" 31 . For most experiments. Therefore. d is the distance from q to the closest point. These features are obtained from Gabor ltering of the image tiles. Data Sets. then we average the ratios. Following 2 we de ne for the Approximate 1-NNS problem the e ective error as X dLSH 1 E= jQj query q2Q d .000 histograms of color thumbnail-sized images of various contents taken from the COREL library. Before the feature extraction. normalizing the maximal value to 1.4 0.465 feature vectors of dimension 60 representing texture information of blocks of large aerial photographs. we assume the bucket size B = 100 for d = 64 or d = 60. As above. For each point representing an image each coordinate effectively counts the number of the image's pixels of a speci c color. thus ignoring the issue of caching. This data set was provided by B. All coordinates are clearly non-negative Point set distance distribution 1 Normalized frequency 0.4 0. Observe that in case of LSH this number is easy to predict as it is clearly equal to the number of indices used. and given an image. These texture features are extracted from 40 large air photos.8 0. thus the total number of lters is 5 6 = 30. As the number of indices also determines the storage overhead. The distribution of interpoint distances in our point sets is shown in Figure 3. For the Approximate K -NNS we measure separately the distance ratios between the closest points found to the nearest neighbor. each airphoto is rst partitioned into non- Interpoint distance 524 .

Dependence on Data Size. the fraction of queries for which no answer was found. but decrease In this section we describe the results of our experiments. shown on Figure 4. The error however decreases very fast as l increases. Our construction is as follows: we split the data set randomly into two disjoint parts call them S1 and S2 .465 points as a query set. in the following we set = 2. When applicable.e.e. For the second data set we chose S1 to be of size 270. while the rst 500 points from S2 denoted by Q are used as query points we use the other 500 points for various veri cation purposes. At the same time the I O activity of SR-tree increases by more than 200. Our next observation was that the value of storage overhead does not exert much in uence over the performance of the algorithm we tried 's from the interval 2. we believe the lack of dependence on d is also in uenced by the structure of the data. The results for n = 19. For both data sets they consist essentially of the following three steps. 5 . alpha=2. We performed the simulations for d = 64 and the data sets of sizes 1000.1 0 1 2 3 4 5 6 7 Number of indices 8 9 10 4.. Similar or even better behavior occurs for Approximate 10-NNS.000 while the size of S2 is 1000. In this case we chose a random subset of S1 of required size. the number of indices. As expected.overlapping tiles of size 64 times 64. we measure the performance of LSH by computing for a variety of data sets the minimal number of indices needed to achieve a speci ed value of error. 2000. The di culty in evaluating similarity searching algorithms is the lack of a publicly available database containing typical query points. Finally. we performed several experiments aimed at understanding the behavior of LSH algorithm and its performance relative to SR-tree.2 0.5 0. To achieve better understanding of scalability of our algorithms.2 Color histograms 525 . and we use 1000 of the remaining 5. In the rst phase we have to make the following choice: the value of k the number of sampled bits to choose for a given data set and the given number of indices l in order to minimize the effective error.4 Error 0. exhibit little dependence on the size of the data. In the next step we estimated the in uence of l on E . We also computed the miss ratios. For the rst data set the size of S1 is 19. The lack of dependence on n can be explained by the fact that the smaller data sets were obtained by sampling the large one and therefore all of the sets have similar structure. we estimate the in uence of the number of indices l on the error. we computed for a variety of data sets the minimal number of indices needed to achieve a specied value of error E equal to 2. it requires 3 accesses more for a data set 19 times larger. The set S1 forms a database of images. Query Sets. we had to construct the query set from the data set itself. from which the feature vectors are computed. i. For this data set. We used the parameters from the previous experiment. For larger errors the LSH curves are nearly at.1 Experimental Results Figure 4: Error vs. n=19000. we did run the experiments twice: for Approximate 1-NNS and for Approximate 10-NNS. The numbers are slightly di erent for the scalability experiments as they require varying the size of the data set. k=700 0. one index is not su cient to achieve reasonably small error | the e ective error can easily exceed 50. On can observe that for say E = 5 and Approximate 1-NNS.3 0. Therefore.000. the miss ratios are quite high 10 for small n. The results are presented on Figure 5. It turned out that the optimal value of k is essentially independent of n and d and thus we can use the same value for di erent values of these parameters. we also compare this performance with that of SR-trees. K = 1 are 4. i. we started with an observation that the optimal value of sampled bits k is essentially independent of n and d and approximately equal to 700 for d = 64. d = 64. 000. In order to compare the performance of LSH with SR-tree. In the second phase. 5 . The results are presented on Figure 6. As mentioned above. Therefore the following experiments were done assuming k = 700. 10000 and 19000. 10 or 20. This is due to the fact that the probabilities of nding empty bucket are independent for di erent indices and therefore the probability that all buckets are empty decays exponentially in l. Notice the strongly sublinear dependence exhibited by LSH: although for small E = 2 it matches SR-tree for n = 1000 with 5 blocks accessed for K = 1. 5000. Then we investigated the performance of the two algorithms while varying the dimension and data size..6 0. d=64. thus.

which resulted in error from 50 to 15 see Figure 9 a.9 x 10 4 a Approximate 1-NNS alpha = 2. Figure 5: Number of indices vs. As stated above. the value of n was equal to 270.25 Error=.000 points. We just state that we assumed that the number of sampled bits k = 65. error=. 10−NNS 40 35 30 SR−Tree LSH. error=.000. error=.1 5 0. the results are shown on Figure 7.1 LSH. 1−NNS 20 0.5 Error=. the choice of the number of sampled bits k was very similar to the previous experiment. the choice of d's was limited to cubes of natural numbers because of the way the data has been created.05 LSH.05 LSH.9 x 10 4 b Approximate 10-NNS b Approximate 10-NNS Figure 6: Miss ratio vs. d=64.3 0. The miss ratio was always below 6 for all dimensions. error=.05 Error=. 10−NNS 0. Dependence on Dimension. Note that LSH scales very well with the increase of dimensionality: for E = 5 the change from d = 8 to d = 64 increases the number of indices only by 2.05 Error=.2 0. therefore we skip the detailed description here. note that the size of the texture le 270.1 0.5 1 Number of database points 1. we performed an additional experiment on LSH only.2 0 0. error=.. Figure 8 presents the performance of LSH when the number of nearest neighbors to retrieve vary from 1 to 100. 33 and 43 .2 0.2 Disk accesses 15 0.2 Miss ratio alpha=2. n=19000. d=64. The shape of the curve is similar as in the previous experiment.1 5 0 0. n=19000. data size.3 Texture features simulations for d = 23 .15 10 0.1 0. error=.1 0.5 1 Number of database points 1. error=.1 0. error=.9 x 10 0. We performed the The experiments with texture feature data were designed to measure the performance of the LSH algorithm on large data sets.9 x 10 4 0 0. data size. to around 1 for n = 19. The miss ratio was roughly 526 . The rst step i.5 1 Number of database points 1.2 a Approximate 1-NNS alpha=2.e.1 LSH. block size B = 100. 000 . We varied the number of indices from 3 to 100. 1−NNS SR−Tree LSH. and the number of nearest neighbors equal to 10.2 4 0.1 0.05 0 0.2 0.02 LSH. For a better understanding of the behavior of LSH.alpha = 2.1 0. we performed the comparison for Approximate 1-NNS and Approximate 10-NNS.000 points is an order of magnitude larger than the size of the histogram data set 20.4 Disk accesses Miss ratio 25 20 15 10 0. 4. This completes the comparison of LSH with SRtree.02 LSH.5 1 Number of database points 1. with other parameters being: the storage overhead = 1. Again.

1 for 5 indices. However.2 10 Disk accesses 12 10 8 6 4 2 0 8 27 64 Dimensions Disk accesses 5 0 1 10 20 a Approximate 1-NNS alpha = 2. 6 Conclusions We presented a novel scheme for approximate similarity search based on locality-sensitive hashing.02 LSH. error=. being up to an order of magnitude faster. 10−NNS 35 30 25 SR−Tree LSH. An additional advantage of our data structure is that its running time is 527 . To compare with SR-tree. see also an excellent survey by 4 . We showed that by allowing small error and additional storage overhead. In this way we achieve a speed-up of the algorithm as the random sample of the data set is smaller than the original set Dimensions 5 Previous Work There is considerable literature on various versions of the nearest neighbor problem. a good representative of tree-based spatial data structures. we can considerably improve the query time. while incurring some error. d=64 Error=. error=. we run it on a randomly chosen subset of it. including variants of k-d trees.1 LSH. error=. n=19000. we implemented that latter on random subsets of the whole data set of sizes from 10. error=. 000 the average number of blocks accessed per query by SR-tree was 1310. Recent theoretical work in nearest neighbor search is brie y surveyed in 24 . Observe that using random sampling results in considerable speed-up for the SR-tree algorithm.1 LSH. The more recent results are surveyed in 41 . we also include a similar graph for LSH. The query cost versus error tradeo obtained in this way for the entire data set is depicted on Figure 9. 000 to 200.lling curves.05 Error=. Observe though that an SR-tree computes exact answers while LSH provides only an approximation.1 Error=. even in this case the LSH algorithm o ers considerably outperforms SR-trees. 64 Disk accesses 20 15 10 5 0 8 27 b Approximate 10-NNS Figure 7: Number of indices vs. the reader is advised to read 39 for a survey of a variety of data structures for nearest neighbors in geometric spaces. we decided to compare it with a modi ed SR-tree algorithm which produces approximate answers.2 15 alpha=2. 4 for 3 indices.02 LSH. error=. Due to lack of space we omit detailed description of related work. while keeping the error relatively low. and structures based on space. and 0 otherwise. error=. dimension. 1−NNS 20 18 16 14 SR−Tree LSH. The modi cation is simple: instead of running SR-tree on the whole data set.alpha = 2. R-trees. error=. error=. 000. which is one to two orders of magnitude larger than the number of blocks accessed by our algorithm see Figure 9 b where we show the running times of LSH for e ective error 15. Thus in order to perform an accurate evaluation of LSH. We compared the performance of this technique and SRtree.05 LSH. For n = 200.05 LSH. number of nearest neighbors.2 50 Number of nearest neighbors 100 Figure 8: Number of indices vs. Experimental results also indicate that our scheme scales well to even a large number of dimensions and data size.

M. essentially determined in advance. Arya. and W. and A. Duda and P. We also believe that investigation of hybrid data structures obtained by merging the tree-based and hashing-based approaches is a fruitful direction for further research. Discrete and Computational Geometry. pp. Wu. 23 .A. Journal of Intelligent Information Systems. 41 1990. R. Random Sampling for Histogram Construction: How much is enough?".L. 501. pp. Yang. pp. Stanford University.. 4 S. Faloutsos. such a method could take additional advantage of the structure of the data set. Cohen. Niblack. 57 67. and R. Datar.M. Deerwester. 59 68. In Proceedings of the 5th Annual ACM-SIAM Symposium on Discrete Algorithms. 1994. John Wiley & Sons.J. 3 1994. size. N. 5 E. 21 27. Berchtold and D. P. Mount. Kanal. E cient and e ective querying by image content. 1998. Silverman.S. eds. 231 262. Narasayya. Netanyahu. 2. M. Ullman.E. Communications of the ACM. p. Patella and P. Chaudhuri. Hart. Furnas. R. See http: www. It would be interesting if there was a more systematic method for performing this task. Computer Science Department. 1997. pp.M. T. 3 J. Journal of the Society for Information Sciences. Krishnaiah and L.de keim SIGMOD98Tutorial. S. J. and O. Springer-Verlag. Accounting for boundary e ects in nearest-neighbor searching. T. 10 P. W. 528 . D. 18 1975. In Proceedings of the 13th Annual ACM Symposium on Computational Geometry. R. Edelsbrunner. In Proceedings of SIGMOD'98. M.gz 1400 1200 Number of Disk Accesses SR−Tree LSH 1000 800 600 400 200 0 0 50 100 150 200 Data Set Size b Figure 9: a number of indices vs. 9 T. An optimal algorithm for approximate nearest neighbor searching. P. Motwani. Petkovic. Cover and P. North-Holland. Technical Report. 14 H. our data structures are created using a randomized procedure. 436 447. Narayan. Fujiwara. 8 S.Performance vs error 450 400 350 References SR−Tree LSH Disk accesses 300 250 200 150 100 50 0 10 15 20 25 30 35 40 45 50 Error (%) a 1 S. 391 407.informatik. vol. 16 1996. 10 1993. 1987. G.uni-halle. Devroye and T. NY. Motwani and V. pp. 352-358. In recent work 5. Cost and S. 2 S. pp.M. Handbook of Statistics. Landauer. Pattern Classi cation and Scene Analysis.O. A cost model for similarity queries in metric spaces In Proceedings of PODS'98. pp. Keim. 13 1967. Machine Learning.N.E. 7 S. Algorithms in Combinatorial Geometry. Wagner.M. Arya.R. Approximate Nearest Neighbor Queries Revisited. Our experience suggests that there is a lot of potential for further improvement of the performance of the LSH algorithm. D. A. All these properties make LSH a suitable candidate for high-performance and real-time systems. A weighted nearest neighbor algorithm for learning with symbolic features. Gionis. R. Multidimensional binary search trees used for associative searching. Dumais.A. D. 13 R. Finding Interesting Associations without Support Pruning. 15 C. D. error and b number of indices vs. 11 S. Indexing by latent semantic analysis. pp. 1973. 509 517. pp. In Proceedings of SIGMOD. Zezula. 573 582.ps. 155 176. C. Equitz. Salzberg. Chan.K. Bentley. Nearest neighbor methods in discrimination. Hart. we explore applications of LSH-type techniques to data mining and search for copyrighted video data. For example. Indyk. Ciaccia. Mount. 1982. Nearest neighbor pattern classi cation. S. 12 L. IEEE Transactions on Information Theory.W. High-dimensional Index Structures. Flickner. Barber. pp. Harshman. 6 T.

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