Colorful simplicial depth, Minkowski sums, and generalized Gale transforms

The colorful simplicial depth of a collection of d+1 finite sets of points in Euclidean d-space is the number of choices of a point from each set such that the origin is contained in their convex hull. We use methods from combinatorial topology to prove a tight upper bound on the colorful simplicial depth. This implies a conjecture of Deza et al. (2006). Furthermore, we introduce colorful Gale transforms as a bridge between colorful configurations and Minkowski sums. Our colorful upper bound then yields a tight upper bound on the number of totally mixed facets of certain Minkowski sums of simplices. This resolves a conjecture of Burton (2003) in the theory of normal surfaces.