Empirical Evidence of Large-Scale Diversity in API Usage of Object-Oriented Software

In this paper, we study how object-oriented classes are used across thousands of software packages. We concentrate on "usage diversity'", defined as the different statically observable combinations of methods called on the same object. We present empirical evidence that there is a significant usage diversity for many classes. For instance, we observe in our dataset that Java's String is used in 2460 manners. We discuss the reasons of this observed diversity and the consequences on software engineering knowledge and research

Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search

This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate object poses is generated from state-of-the-art object detection and global point cloud registration techniques. The best-scored pose per object by using these techniques may not be accurate due to overlaps and occlusions. Nevertheless, experimental indications provided in this work show that object poses with lower ranks may be closer to the real poses than ones with high ranks according to registration techniques. This motivates a global optimization process for improving these poses by taking into account scene-level physical interactions between objects. It also implies that the Cartesian product of candidate poses for interacting objects must be searched so as to identify the best scene-level hypothesis. To perform the search efficiently, the candidate poses for each object are clustered so as to reduce their number but still keep a sufficient diversity. Then, searching over the combinations of candidate object poses is performed through a Monte Carlo Tree Search (MCTS) process that uses the similarity between the observed depth image of the scene and a rendering of the scene given the hypothesized pose as a score that guides the search procedure. MCTS handles in a principled way the tradeoff between fine-tuning the most promising poses and exploring new ones, by using the Upper Confidence Bound (UCB) technique. Experimental results indicate that this process is able to quickly identify in cluttered scenes physically-consistent object poses that are significantly closer to ground truth compared to poses found by point cloud registration methods.Comment: 8 pages, 4 figure

UA-DETRAC: A New Benchmark and Protocol for Multi-Object Detection and Tracking

In recent years, numerous effective multi-object tracking (MOT) methods are developed because of the wide range of applications. Existing performance evaluations of MOT methods usually separate the object tracking step from the object detection step by using the same fixed object detection results for comparisons. In this work, we perform a comprehensive quantitative study on the effects of object detection accuracy to the overall MOT performance, using the new large-scale University at Albany DETection and tRACking (UA-DETRAC) benchmark dataset. The UA-DETRAC benchmark dataset consists of 100 challenging video sequences captured from real-world traffic scenes (over 140,000 frames with rich annotations, including occlusion, weather, vehicle category, truncation, and vehicle bounding boxes) for object detection, object tracking and MOT system. We evaluate complete MOT systems constructed from combinations of state-of-the-art object detection and object tracking methods. Our analysis shows the complex effects of object detection accuracy on MOT system performance. Based on these observations, we propose new evaluation tools and metrics for MOT systems that consider both object detection and object tracking for comprehensive analysis.Comment: 18 pages, 11 figures, accepted by CVI

AlteregoNets: a way to human augmentation

A person dependent network, called an AlterEgo net, is proposed for development. The networks are created per person. It receives at input an object descriptions and outputs a simulation of the internal person's representation of the objects. The network generates a textual stream resembling the narrative stream of consciousness depicting multitudinous thoughts and feelings related to a perceived object. In this way, the object is described not by a 'static' set of its properties, like a dictionary, but by the stream of words and word combinations referring to the object. The network simulates a person's dialogue with a representation of the object. It is based on an introduced algorithmic scheme, where perception is modeled by two interacting iterative cycles, reminding one respectively the forward and backward propagation executed at training convolution neural networks. The 'forward' iterations generate a stream representing the 'internal world' of a human. The 'backward' iterations generate a stream representing an internal representation of the object. People perceive the world differently. Tuning AlterEgo nets to a specific person or group of persons, will allow simulation of their thoughts and feelings. Thereby these nets is potentially a new human augmentation technology for various applications

Imaging with Pairs of Skew Lenses

Many of the properties of thick lenses can be understood by considering these as a combination of parallel ideal thin lenses that share a common optical axis. A similar analysis can also be applied to many other optical systems. Consequently, combinations of ideal lenses that share a common optical axis, or at least optical-axis direction, are very well understood. Such combinations can be described as a single lens with principal planes that do not coincide. However, in recent proposals for lens-based transformation-optics devices the lenses do not share an optical-axis direction. To understand such lens-based transformation-optics devices, combinations of lenses with skew optical axes must be understood. In complete analogy to the description of combinations of pairs of ideal lenses that share an optical axis, we describe here pairs of ideal lenses with skew optical axes as a single ideal lens with sheared object and image spaces. The transverse planes are no longer perpendicular to the optical axis. We construct the optical axis, the direction of the transverse planes on both sides, and all cardinal points. We believe that this construction has the potential to become a powerful tool for understanding and designing novel optical devices