CSE 326: Data Structures

Binary Search Trees

 Today’s Outline

• Dictionary ADT / Search ADT

• Quick Tree Review
• Binary Search Trees
 ADTs Seen So Far
• Stack • Priority Queue
– Push – Insert
– Pop – DeleteMin

• Queue
– Enqueue
– Dequeue Then there is decreaseKey…
 The Dictionary ADT
• jfogarty
• Data: James
Fogarty
– a set of insert(jfogarty, ….) CSE 666

(key, value) • phenry

pairs Peter
Henry
CSE 002
find(boqin)
• Operations: • boqin • boqin
– Insert (key, Bo, Qin, … Bo
Qin
value) CSE 002
– Find (key)
– Remove (key) The Dictionary ADT is also
called the “Map ADT”
 A Modest Few Uses

• Sets
• Dictionaries
• Networks : Router tables
• Operating systems : Page tables
• Compilers : Symbol tables
Probably the most widely used ADT!

5
 Implementations
insert find delete

• Unsorted Linked-list

• Unsorted array

• Sorted array
 Tree Calculations
Recall: height is max t
number of edges from
root to a leaf

Find the height of the

tree...

runtime:

7
 Tree Calculations Example
How high is this tree? A

B C

D E F G

H I

J K L L

M N
8
 More Recursive Tree Calculations:
Tree Traversals

A traversal is an order for

visiting all the nodes of a tree +

* 5
Three types:
• Pre-order: Root, left subtree, right subtree 2 4

• In-order: Left subtree, root, right subtree

(an expression tree)

• Post-order: Left subtree, right subtree, root

 Inorder Traversal
void traverse(BNode t){
if (t != NULL)
traverse (t.left);
process t.element;
traverse (t.right);
}
}
 Binary Trees
• Binary tree is
– a root
A
– left subtree (maybe
empty)
B C
– right subtree (maybe
empty)
D E F

• Representation: G H
Data
left right I J
pointer pointer

11
 Binary Tree: Representation
A
left right
pointer pointer A

B C B C
left right left right
pointer pointer pointer pointer
D E F

D E F
left right left right left right
pointer pointer pointer pointer pointer pointer

12
 Binary Tree: Special Cases

A A A

B C B C B C

D E F D E F G D E F G

Complete Tree Perfect Tree

H I

Full Tree
 Binary Tree: Some Numbers!
For binary tree of height h:
– max # of leaves:

– max # of nodes:

– min # of leaves:

– min # of nodes:

Average Depth for N nodes?

 Binary Search Tree Data Structure
• Structural property
– each node has  2 children
– result:
• storage is small 8
• operations are simple
• average depth is small
5 11
• Order property
– all keys in left subtree smaller
than root’s key 2 6 10 12
– all keys in right subtree larger
than root’s key
– result: easy to find any given key 4 7 9 14

• What must I know about what I store? 13

 Example and Counter-Example

5 8

4 8 5 11

1 7 11 2 7 6 10 18

3 4 15 20

BINARY SEARCH TREES? 21

 Find in BST, Recursive
Node Find(Object key,
10 Node root) {
if (root == NULL)
return NULL;
5 15
if (key < root.key)
return Find(key,
2 9 20 root.left);
else if (key > root.key)
return Find(key,
7 17 30
root.right);
else
return root;
Runtime: }
 Find in BST, Iterative
Node Find(Object key,
Node root) {
10
while (root != NULL &&
root.key != key) {
if (key < root.key)
5 15
root = root.left;
else 2 9 20
root = root.right;
}
7 17 30
return root;
}
Runtime:
 Insert in BST
10
Insert(13)
5 15 Insert(8)
Insert(31)

2 9 20

7 17 30
Insertions happen only
at the leaves – easy!
Runtime:
 BuildTree for BST
• Suppose keys 1, 2, 3, 4, 5, 6, 7, 8, 9 are
inserted into an initially empty BST.
Runtime depends on the order!
– in given order

– in reverse order

– median first, then left median, right median, etc.

 Bonus: FindMin/FindMax

• Find minimum 10

5 15

• Find maximum 2 9 20

7 17 30
 Deletion in BST
10

5 15

2 9 20

7 17 30

Why might deletion be harder than insertion?

 Lazy Deletion
Instead of physically deleting
nodes, just mark them as
deleted
10
+ simpler
+ physical deletions done in
batches 5 15
+ some adds just flip deleted flag

– extra memory for “deleted” flag 2 9 20

– many lazy deletions = slow
finds
– some operations may have to 7 17 30
be modified (e.g., min and
max)
 Non-lazy Deletion
• Removing an item disrupts the tree
structure.
• Basic idea: find the node that is to be
removed. Then “fix” the tree so that it is
still a binary search tree.
• Three cases:
– node has no children (leaf node)
– node has one child
– node has two children
Non-lazy Deletion – The Leaf Case

Delete(17) 10

5 15

2 9 20

7 17 30
Deletion – The One Child Case

Delete(15) 10

5 15

2 9 20

7 30
Deletion – The Two Child Case
10
Delete(5)
5 20

2 9 30

What can we replace 5 with?

 Deletion – The Two Child Case
Idea: Replace the deleted node with a value
guaranteed to be between the two child subtrees

Options:
• succ from right subtree: findMin(t.right)
• pred from left subtree : findMax(t.left)

Now delete the original node containing succ or pred

• Leaf or one child case – easy!
 Finally…

10

7 replaces 5
7 20

2 9 30

Original node containing

7 gets deleted
 Balanced BST
Observation
• BST: the shallower the better!
• For a BST with n nodes
– Average height is O(log n)
– Worst case height is O(n)
• Simple cases such as insert(1, 2, 3, ..., n)
lead to the worst case scenario

Solution: Require a Balance Condition that

1. ensures depth is O(log n) – strong enough!
2. is easy to maintain – not too strong!
 Potential Balance Conditions
1. Left and right subtrees of the root
have equal number of nodes

2. Left and right subtrees of the root

have equal height
 Potential Balance Conditions
3. Left and right subtrees of every node
have equal number of nodes

4. Left and right subtrees of every node

have equal height
CSE 326: Data Structures
AVL Trees
 Balanced BST
Observation
• BST: the shallower the better!
• For a BST with n nodes
– Average height is O(log n)
– Worst case height is O(n)
• Simple cases such as insert(1, 2, 3, ..., n)
lead to the worst case scenario

Solution: Require a Balance Condition that

1. ensures depth is O(log n) – strong enough!
2. is easy to maintain – not too strong!
 Potential Balance Conditions
1. Left and right subtrees of the root
have equal number of nodes
2. Left and right subtrees of the root
have equal height
3. Left and right subtrees of every node
have equal number of nodes
4. Left and right subtrees of every node
have equal height
 The AVL Balance Condition
AVL balance property:

Left and right subtrees of every node

have heights differing by at most 1

• Ensures small depth

– Will prove this by showing that an AVL tree of height
h must have a lot of (i.e. O(2h)) nodes
• Easy to maintain
– Using single and double rotations
 The AVL Tree Data Structure
Structural properties
1. Binary tree property
(0,1, or 2 children) 8
2. Heights of left and right
subtrees of every node 5 11
differ by at most 1
Result: 2 6 10 12
Worst case depth of any
node is: O(log n) 4 7 9 13 14

Ordering property 15
– Same as for BST
 6 AVL trees or not?

4 8

1 7 11

10 12
6

4 8

1 5 7 11
3

2
 Proving Shallowness Bound
Let S(h) be the min # of nodes in an AVL tree of height h=4
AVL tree of height h with the min # of nodes (12)

Claim: S(h) = S(h-1) + S(h-2) + 1

5 11
Solution of recurrence: S(h) = O(2h)
(like Fibonacci numbers) 2 6 10 12

7 9 13 14

15
 Testing the Balance Property

10 We need to be able to:

1. Track Balance
5 15
2. Detect Imbalance
2 9 20
3. Restore Balance
7 17 30

NULLs have
height -1
 An AVL Tree
3 10 data
10 3 height
children
2 2
5 20
0 1 1 0
2 9 15 30
0 0
7 17
 AVL trees: find, insert
• AVL find:
– same as BST find.
• AVL insert:
– same as BST insert, except may need to
“fix” the AVL tree after inserting new value.
 AVL tree insert
Let x be the node where an imbalance occurs.

Four cases to consider. The insertion is in the

1. left subtree of the left child of x.
2. right subtree of the left child of x.
3. left subtree of the right child of x.
4. right subtree of the right child of x.

Idea: Cases 1 & 4 are solved by a single rotation.

Cases 2 & 3 are solved by a double rotation.
 Bad Case #1
Insert(6)
Insert(3)
Insert(1)
 Fix: Apply Single Rotation
AVL Property violated at this node (x)
2 1
6 3
1
3 0 0
1 6
0
1

Single Rotation:
1. Rotate between x and child
 Single rotation in general
a

b
Z h
h X h Y
h  -1

X<b<Y<a<Z

b
a

h+1 X h h
Y Z

Height of tree before? Height of tree after? Effect on Ancestors?

 Bad Case #2
Insert(1)
Insert(6)
Insert(3)
 Fix: Apply Double Rotation
AVL Property violated at this node (x)
2 2
1 1 1
3
1 1
6 3
0 0
0 1 6
0
3 6

Double Rotation
1. Rotate between x’s child and grandchild
2. Rotate between x and x’s new child
 Double rotation in general
h0
a
b
c h
Z
h W h -1 h-1
X Y

W < b <X < c < Y < a < Z

c
b a

h h h-1 Y h
W X Z

Height of tree before? Height of tree after? Effect on Ancestors?

 Double rotation, step 1
15
8 17

4 10 16

3 6
5
15
8 17

6 10 16
4
3 5
 Double rotation, step 2
15
8 17

6 10 16
4
3 5

15
6 17
4 8 16
3 5 10
 Imbalance at node X

Single Rotation
1. Rotate between x and child

Double Rotation
1. Rotate between x’s child and grandchild
2. Rotate between x and x’s new child
 Single and Double Rotations:
Inserting what integer values
would cause the tree to need a:

1. single rotation? 9
5 11
2 7 13

2. double rotation? 0 3

3. no rotation?
 Insertion into AVL tree
1. Find spot for new key
2. Hang new node there with this key
3. Search back up the path for imbalance
4. If there is an imbalance:
case #1: Perform single rotation and exit

case #2: Perform double rotation and exit

Both rotations keep the subtree height unchanged.
Hence only one rotation is sufficient!
 Easy Insert
3
Insert(3) 10

1 2
5 15

0 0 0 1
2 9 12 20
0 0
17 30

Unbalanced?
 Hard Insert (Bad Case #1)
3
Insert(33) 10

2 2
5 15
1 0 0 1
2 9 12 20
0 0 0
3 17 30
Unbalanced?
How to fix?
 Single Rotation
3 3
10 10

2 3 2 2
5 15 5 20
1 0 0 2 1 0 1 1
2 9 12 20 2 9 15 30
0 0 1 0 0 0 0
3 17 30 3 12 17 33
0
33
 Hard Insert (Bad Case #2)
3
Insert(18) 10

2 2
5 15
1 0 0 1
2 9 12 20
0 0 0
Unbalanced? 3 17 30

How to fix?
 Single Rotation (oops!)
3 3
10 10

2 3 2 3
5 15 5 20
1 0 0 2 1 0 2 0
2 9 12 20 2 9 15 30
0 1 0 0 0 1
3 17 30 3 12 17
0 0
18 18
 Double Rotation (Step #1)
3 3
10 10

2 3 2 3
5 15 5 15
1 0 0 2 1 0 0 2
2 9 12 20 2 9 12 17
0 1 0 0 1
3 17 30 3 20
0 0 0
18 18 30
 Double Rotation (Step #2)
3 3
10 10

2 3 2 2
5 15 5 17
1 0 0 2 1 0 1 1
2 9 12 17 2 9 15 20
0 1 0 0 0 0
3 20 3 12 18 30
0 0
18 30
Insert into an AVL tree: 5, 8, 9, 4, 2, 7, 3, 1
CSE 326: Data Structures
Splay Trees
 AVL Trees Revisited
• Balance condition:
Left and right subtrees of every node
have heights differing by at most 1
– Strong enough : Worst case depth is O(log n)
– Easy to maintain : one single or double rotation

• Guaranteed O(log n) running time for

– Find ?
– Insert ?
– Delete ?
– buildTree ?
Single and Double
a
Rotations
b
Z h
h X h Y

a
b
c h
Z
h W h -1 h-1
X Y
 AVL Trees Revisited
• What extra info did we maintain in each
node?

• Where were rotations performed?

• How did we locate this node?

 Other Possibilities?
• Could use different balance conditions, different ways
to maintain balance, different guarantees on running
time, …

• Why aren’t AVL trees perfect?

• Many other balanced BST data structures

– Red-Black trees
– AA trees
– Splay Trees
– 2-3 Trees
– B-Trees
– …
 Splay Trees
• Blind adjusting version of AVL trees
– Why worry about balances? Just rotate
anyway!
• Amortized time per operations is O(log n)
• Worst case time per operation is O(n)
– But guaranteed to happen rarely

Insert/Find
SAT/GRE always
Analogy rotate node to the
question:
root!
AVL is to Splay trees as ___________ is to __________
 Recall: Amortized Complexity
If a sequence of M operations takes O(M f(n)) time,
we say the amortized runtime is O(f(n)).

• Worst case time per operation can still be large, say O(n)

• Worst case time for any sequence of M operations is O(M f(n))

Average time per operation for any sequence is O(f(n))

Amortized complexity is worst-case guarantee over

sequences of operations.
 Recall: Amortized Complexity
• Is amortized guarantee any weaker than
worstcase?

• Is amortized guarantee any stronger than

averagecase?

• Is average case guarantee good enough in

practice?

• Is amortized guarantee good enough in

practice?
 The Splay Tree Idea
10

If you’re forced to make 17

a really deep access:

Since you’re down there anyway,

fix up a lot of deep nodes!

2 9

3
 Find/Insert in Splay Trees
1. Find or insert a node k
2. Splay k to the root using:
zig-zag, zig-zig, or plain old zig rotation

Why could this be good??

1. Helps the new root, k

o Great if k is accessed again

2. And helps many others!

o Great if many others on the path are accessed
 Splaying node k to the root:
Need to be careful!
One option (that we won’t use) is to repeatedly use AVL
single rotation until k becomes the root: (see Section
4.5.1 for details)

p
k
q
F
r s p
E
s q
D A B F
A k r
E
B C C D
 Splaying node k to the root:
Need to be careful!
What’s bad about this process?

p k
q F s p
r E
s A B q
D F
k r E
A
B C C D
 Splay: Zig-Zag *

g k

X p g p

k W X Y Z W

Y Z

*
Just like an… Which nodes improve depth?
 Splay: Zig-Zig*
g k

W p p
Z

X k g
Y

Y Z W X

*Is this just two AVL single rotations in a row?

 Special Case for Root: Zig
root p k root

k Z
p
X

X Y Y Z

Relative depth of p, Y, Z? Relative depth of everyone else?

Why not drop zig-zig and just zig all the way?
 Splaying Example: Find(6)
1 1

2 2
?
3 3
Find(6)
4 6

5 5

6 4
 Still Splaying 6
1 1

2 6
?
3 3

6 2 5

5 4

4
 Finally…
1 6

6 1
?
3 3

2 5 2 5

4 4
 Another Splay: Find(4)
6 6

1 1
?
3 4
Find(4)
2 5 3 5

4 2
Example Splayed Out
6 4

1 1 6
?
4 3 5

3 5 2

2
 But Wait…
What happened here?

Didn’t two find operations take linear time

instead of logarithmic?

What about the amortized O(log n)

guarantee?
 Why Splaying Helps
• If a node n on the access path is at depth d
before the splay, it’s at about depth d/2 after
the splay

• Overall, nodes which are low on the access

path tend to move closer to the root

• Splaying gets amortized O(log n)

performance. (Maybe not now, but soon, and for the rest of the
operations.)
 Practical Benefit of Splaying
• No heights to maintain, no imbalance to
check for
– Less storage per node, easier to code

• Data accessed once, is often soon

accessed again
– Splaying does implicit caching by bringing it to
the root
 Splay Operations: Find
• Find the node in normal BST manner
• Splay the node to the root
– if node not found, splay what would have
been its parent

What if we didn’t splay?

Amortized guarantee fails!
Bad sequence: find(leaf k), find(k), find(k), …
 Splay Operations: Insert
• Insert the node in normal BST manner
• Splay the node to the root

What if we didn’t splay?

Splay Operations: Remove

k
find(k) delete k
L R
L R <k >k

Now what?
Join(L, R): Join
given two trees such that (stuff in L) < (stuff in R), merge
them:
splay L

max
L R R

Splay on the maximum element in L, then

attach R
Does this work to join any two trees?
 Delete Example
Delete(4)
6 4 6

1 9 find(4) 1 6 1 9

4 7 2 9 2 7

Find max
2 7
2 2

1 6 1 6

9 9

7 7
 Splay Tree Summary
• All operations are in amortized O(log n) time

• Splaying can be done top-down; this may be better

because:
– only one pass
– no recursion or parent pointers necessary
– we didn’t cover top-down in class

• Splay trees are very effective search trees

– Relatively simple
– No extra fields required
– Excellent locality properties:
frequently accessed keys are cheap to find
 Splay E

I
H
A
B
G

F
C
D
E
 Splay E

A
I
B
H
C
G
D
F
E
CSE 326: Data Structures
B-Trees
 B-Trees

Weiss Sec. 4.7

 TIme to access
CPU (conservative)
(has registers) 1 ns per instruction

SRAM Cache
Cache
8KB - 4MB
2-10 ns

Main Memory
DRAM Main Memory
up to 10GB
40-100 ns

Disk
a few
many GB Disk milliseconds
(5-10 Million ns)
 Trees so far

• BST

• AVL

• Splay
 AVL trees
Suppose we have 100 million items
(100,000,000):

• Depth of AVL Tree

• Number of Disk Accesses

 M-ary Search Tree

• Maximum branching factor

of M
• Complete tree has height =

# disk accesses for find:

Runtime of find:
 Solution: B-Trees
• specialized M-ary search trees

• Each node has (up to) M-1 keys:

– subtree between two keys x and y contains
leaves with values v such that 3 7 12 21
xv<y

• Pick branching factor M

such that each node
takes one full
{page, block} x<3 3x<7 7x<12 12x<21 21x

of memory
 B-Trees
What makes them disk-friendly?

1. Many keys stored in a node

• All brought to memory/cache in one access!

2. Internal nodes contain only keys;

Only leaf nodes contain keys and actual
data
• The tree structure can be loaded into memory
irrespective of data object size
• Data actually resides in disk
 B-Tree: Example
B-Tree with M = 4 (# pointers in internal node)
and L = 4 (# data items in leaf)
10 40

3 15 20 30 50

1 2 10 11 12 20 25 26 40 42
AB xG 3 5 6 9 15 17 30 32 33 36 50 60 70

Data objects, that I’ll Note: All leaves at the same depth!
ignore in slides
 B-Tree Properties ‡

– Data is stored at the leaves

– All leaves are at the same depth and contains between
L/2 and L data items
– Internal nodes store up to M-1 keys
– Internal nodes have between M/2 and M children
– Root (special case) has between 2 and M children (or
root could be a leaf)

‡
These are technically B+-Trees
 Example, Again
B-Tree with M = 4
and L = 4

10 40

3 15 20 30 50

1 2 10 11 12 20 25 26 40 42
3 5 6 9 15 17 30 32 33 36 50 60 70

(Only showing keys, but leaves also have data!)

 Building a B-Tree

3 3 14
Insert(3) Insert(14)
The empty
B-Tree
M = 3 L = 2

Now, Insert(1)?
M = 3 L = 2

Splitting the Root

Too many
keys in a leaf!

1 3 14 14
Insert(1) And create
3 14
a new root 1 3 14
1 3 14

So, split the leaf.

M = 3 L = 2

Overflowing leaves Too many

keys in a leaf!

14
14 14
Insert(59) Insert(26)
1 3
1 3 14 1 3 14 59

14 26 59

So, split the leaf.

14 59
And add
a new child
1 3 14 26 59
M = 3 L = 2
Propagating Splits
14 59
14 59
Insert(5) 14 26 59 Add new
1 3 14 26 59 child

1 3 5
Split the leaf, but no space in parent!

14
5 14 59

5 59 Create a
new root
1 3 5 14 26 59 1 3 5 14 26 59

So, split the node.

 Insertion Algorithm
1. Insert the key in its leaf
2. If the leaf ends up with L+1
items, overflow!
– Split the leaf into two nodes:
• original with (L+1)/2 items
• new one with (L+1)/2 items
– Add the new child to the parent
– If the parent ends up with M+1
items, overflow!
This makes the tree deeper!
3. If an internal node ends up
with M+1 items, overflow!
– Split the node into two nodes:
• original with (M+1)/2 items
• new one with (M+1)/2 items
– Add the new child to the parent
– If the parent ends up with M+1
items, overflow!
4. Split an overflowed root in two
and hang the new nodes
under a new root
M = 3 L = 2

After More Routine Inserts

14

5 59 Insert(89)
Insert(79)
1 3 5 14 26 59

14

5 59 89

1 3 5 14 26 59 79 89
M = 3 L = 2

Deletion
1. Delete item from leaf
2. Update keys of ancestors if necessary

14 14

Delete(59)
5 59 89 5 79 89

1 3 5 14 26 59 79 89 1 3 5 14 26 79 89

What could go wrong?

M = 3 L = 2
Deletion and Adoption
A leaf has too few keys!
14 14

Delete(5)
5 79 89 ? 79 89

1 3 5 14 26 79 89 1 3 14 26 79 89

So, borrow from a sibling

14

3 79 89

1 3 3 14 26 79 89
 Does Adoption Always Work?
• What if the sibling doesn’t have enough for
you to borrow from?

e.g. you have L/2-1 and sibling has

L/2 ?
M = 3 L = 2
Deletion and Merging
A leaf has too few keys!
14 14

Delete(3)
3 79 89 ? 79 89

1 3 14 26 79 89 1 14 26 79 89

And no sibling with surplus!

14

So, delete
79 89
the leaf
But now an internal node
has too few subtrees! 1 14 26 79 89
M = 3 L = 2

Deletion with Propagation

(More Adoption)

14 79

Adopt a
79 89 14 89
neighbor

1 14 26 79 89 1 14 26 79 89
M = 3 L = 2

A Bit More Adoption

79 79

Delete(1)
14 89 26 89
(adopt a
sibling)
1 14 26 79 89 14 26 79 89
M = 3 L = 2
Pulling out the Root A leaf has too few keys!
And no sibling with surplus!
79 79

Delete(26) So, delete

26 89 89
the leaf;
merge
14 26 79 89 14 79 89

But now the root A node has too few subtrees

has just one subtree! and no neighbor with surplus!
79

Delete
79 89 89
the node

14 79 89 14 79 89
M = 3 L = 2

Pulling out the Root (continued)

The root
has just one subtree!
Simply make
the one child
79 89
the new root!

14 79 89

79 89

14 79 89
 Deletion Algorithm
1. Remove the key from its leaf

2. If the leaf ends up with fewer

than L/2 items, underflow!
– Adopt data from a sibling;
update the parent
– If adopting won’t work, delete
node and merge with neighbor
– If the parent ends up with
fewer than M/2 items,
underflow!
 Deletion Slide Two
3. If an internal node ends up with
fewer than M/2 items, underflow!
– Adopt from a neighbor;
update the parent
– If adoption won’t work,
merge with neighbor
– If the parent ends up with fewer than
M/2 items, underflow!

4. If the root ends up with only one This reduces the

child, make the child the new root height of the tree!
of the tree
 Thinking about B-Trees
• B-Tree insertion can cause (expensive)
splitting and propagation
• B-Tree deletion can cause (cheap)
adoption or (expensive) deletion, merging
and propagation
• Propagation is rare if M and L are large
(Why?)
• If M = L = 128, then a B-Tree of height
4 will store at least 30,000,000 items
 Tree Names You Might Encounter
FYI:
– B-Trees with M = 3, L = x are called 2-3
trees
• Nodes can have 2 or 3 keys
– B-Trees with M = 4, L = x are called 2-3-4
trees
• Nodes can have 2, 3, or 4 keys
K-D Trees and Quad Trees
 Range Queries
• Think of a range query.
– “Give me all customers aged 45-55.”
– “Give me all accounts worth $5m to $15m”

• Can be done in time ________.

• What if we want both:

– “Give me all customers aged 45-55 with
accounts worth between $5m and $15m.”
 Geometric Data Structures
• Organization of points, lines, planes, etc in
support of faster processing
• Applications
– Map information
– Graphics - computing object intersections
– Data compression - nearest neighbor search
– Decision Trees - machine learning
 k-d Trees
• Jon Bentley, 1975, while an undergraduate
• Tree used to store spatial data.
– Nearest neighbor search.
– Range queries.
– Fast look-up
• k-d tree are guaranteed log2 n depth where n
is the number of points in the set.
– Traditionally, k-d trees store points in
d-dimensional space which are equivalent to
vectors in d-dimensional space.
 Range Queries

i i
g g
h h

y d e y d e
f f

b b
a c a c

x x

Rectangular query Circular query

Nearest Neighbor Search

i
g
h

y d e
f
query

b
a c

Nearest neighbor is e.
 k-d Tree Construction
• If there is just one point, form a leaf with that point.
• Otherwise, divide the points in half by a line
perpendicular to one of the axes.
• Recursively construct k-d trees for the two sets of
points.
• Division strategies
– divide points perpendicular to the axis with widest spread.
– divide in a round-robin fashion (book does it this way)
 k-d Tree Construction

i
g
h

y d e
f

b
a c

x
divide perpendicular to the widest spread.
 k-d Tree Construction (18)
k-d tree cell
x
i s1

g s8
y y
h s2 s6
s4 e s6
y d f x y y y
s5
s2
s3 s4 s7 s8
b s7
a c a b x g c f h i
s3 s1
s5

x d e
2-d Tree Decomposition
2

3
 k-d Tree Splitting
sorted points in each dimension
1 2 3 4 5 6 7 8 9
i x a d g be i c h f
y a c b d f e h g i
g
h
• max spread is the max of
e fx -ax and iy - ay.
y d f
• In the selected dimension the
b middle point in the list splits the
a c data.

• To build the sorted lists for the

x other dimensions scan the sorted
list adding each point to one of two
sorted lists.
 k-d Tree Splitting
sorted points in each dimension
1 2 3 4 5 6 7 8 9
i x a d g be i c h f
y a c b d f e h g i
g
h
indicator for each set
y d e
f a b c de f g h i
0 0 1 00 1 0 1 1
b
a c scan sorted points in y dimension
and add to correct set
x
y a b d eg c f h i
 k-d Tree Construction
Complexity
• First sort the points in each dimension.
– O(dn log n) time and dn storage.
– These are stored in A[1..d,1..n]
• Finding the widest spread and equally divide
into two subsets can be done in O(dn) time.
• We have the recurrence
– T(n,d) < 2T(n/2,d) + O(dn)
• Constructing the k-d tree can be done in
O(dn log n) and dn storage
 Node Structure for k-d Trees
• A node has 5 fields
– axis (splitting axis)
– value (splitting value)
– left (left subtree)
– right (right subtree)
– point (holds a point if left and right children
are null)
 Rectangular Range Query
• Recursively search every cell that
intersects the rectangle.
 Rectangular Range Query (1)
x
i s1

g s8
y y
h s2 s6
s4 e s6
y d f x y y y
s5
s2
s3 s4 s7 s8
b s7
a c a b x g c f h i
s3 s1
s5

x d e
 Rectangular Range Query (8)
x
i s1

g s8
y y
h s2 s6
s4 e s6
y d f x y y y
s5
s2
s3 s4 s7 s8
b s7
a c a b x g c f h i
s3 s1
s5

x d e
 Rectangular Range Query
print_range(xlow, xhigh, ylow, yhigh :integer, root: node pointer) {
Case {
root = null: return;
root.left = null:
if xlow < root.point.x and root.point.x < xhigh
and ylow < root.point.y and root.point.y < yhigh
then print(root);
else
if(root.axis = “x” and xlow < root.value ) or
(root.axis = “y” and ylow < root.value ) then
print_range(xlow, xhigh, ylow, yhigh, root.left);
if (root.axis = “x” and xlow > root.value ) or
(root.axis = “y” and ylow > root.value ) then
print_range(xlow, xhigh, ylow, yhigh, root.right);
}}
 k-d Tree Nearest Neighbor
Search
• Search recursively to find the point in the
same cell as the query.
• On the return search each subtree where
a closer point than the one you already
know about might be found.
 k-d Tree NNS (1)
query point
x
i s1

g s8
y y
h s2 s6
s4 e s6
y d f x y y y
s5
s2
s3 s4 s7 s8
b s7
a c a b x g c f h i
s3 s1
s5

x d e
 k-d Tree NNS
query point
x
i s1

g s8
y y
h s2 s6
s4 e w s6
y d f x y y y
s5
s2
s3 s4 s7 s8
b s7
a c a b x g c f h i
s3 s1
s5

x d e
 Notes on k-d NNS
• Has been shown to run in O(log n)
average time per search in a reasonable
model.
• Storage for the k-d tree is O(n).
• Preprocessing time is O(n log n) assuming
d is a constant.
Worst-Case for Nearest Neighbor
Search
query point •Half of the points
visited for a query
•Worst case O(n)
•But: on average
(and in practice)
nearest neighbor
y
queries are O(log N)

x
 Quad Trees
• Space Partitioning

g
d a b f c
y d e
f g e

b
a c

x
 A Bad Case

ab

x
 Notes on Quad Trees
• Number of nodes is O(n(1+ log(/n)))
where n is the number of points and  is
the ratio of the width (or height) of the key
space and the smallest distance between
two points
• Height of the tree is O(log n + log )
 K-D vs Quad
• k-D Trees
– Density balanced trees
– Height of the tree is O(log n) with batch insertion
– Good choice for high dimension
– Supports insert, find, nearest neighbor, range queries
• Quad Trees
– Space partitioning tree
– May not be balanced
– Not a good choice for high dimension
– Supports insert, delete, find, nearest neighbor, range queries
 Geometric Data Structures
• Geometric data structures are common.
• The k-d tree is one of the simplest.
– Nearest neighbor search
– Range queries
• Other data structures used for
– 3-d graphics models
– Physical simulations