“…An attempt using the dynamic programming technique had been made (Dunham, 1986), however, it required a worst-case complexity of O (N 4 ) where N is the number of data points. Early solutions to reduce the amount of computations rely on local search heuristics, namely the sequential scan-along approaches (Wall & Danielsson, 1984;Ray & Ray, 1993), split-and-merge approaches (Ansari & Delp, 1991;Ray & Ray, 1995), and dominant point detection approaches (Teh & Chin, 1989;Zhu & Chirlian, 1995). However, the quality of the approximation result depends upon the initial condition where the heuristics take place and the metric used to measure the curvature.…”