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The purpose of this study was to assess the measurement accuracy of the most commonly used tracking technologies in professional team sports (i.e., semi-automatic multiple-camera video technology (VID), radar-based local positioning system (LPS), and global positioning system (GPS)). The position, speed, acceleration and distance measures of each technology were compared against simultaneously recorded measures of a reference system (VICON motion capture system) and quantified by means of the root mean square error RMSE. Fourteen male soccer players (age: 17.4±0.4 years, height: 178.6±4.2 cm, body mass: 70.2±6.2 kg) playing for the U19 Bundesliga team FC Augsburg participated in the study. The test battery comprised a sport-specific course, shuttle runs, and small sided games on an outdoor soccer field. The validity of fundamental spatiotemporal tracking data differed significantly between all tested technologies. In particular, LPS showed higher validity for measuring an athlete's position (23±7 cm) than both VID (56±16 cm) and GPS (96±49 cm). Considering errors of instantaneous speed measures, GPS (0.28±0.07 m⋅s-1) and LPS (0.25±0.06 m⋅s-1) achieved significantly lower error values than VID (0.41±0.08 m⋅s-1). Equivalent accuracy differences were found for instant acceleration values (GPS: 0.67±0.21 m⋅s-2, LPS: 0.68±0.14 m⋅s-2, VID: 0.91±0.19 m⋅s-2). During small-sided games, lowest deviations from reference measures have been found in the total distance category, with errors ranging from 2.2% (GPS) to 2.7% (VID) and 4.0% (LPS). All technologies had in common that the magnitude of the error increased as the speed of the tracking object increased. Especially in performance indicators that might have a high impact on practical decisions, such as distance covered with high speed, we found >40% deviations from the reference system for each of the technologies. Overall, our results revealed significant between-system differences in the validity of tracking data, implying that any comparison of results using different tracking technologies should be done with caution.

Technical debt refers to taking shortcuts to achieve short-term goals while sacrificing the long-term maintainability and evolvability of software systems. A large part of technical debt is explicitly reported by the developers themselves; this is commonly referred to as Self-Admitted Technical Debt or SATD. Previous work has focused on identifying SATD from source code comments and issue trackers. However, there are no approaches available for automatically identifying SATD from other sources such as commit messages and pull requests, or by combining multiple sources. Therefore, we propose and evaluate an approach for automated SATD identification that integrates four sources: source code comments, commit messages, pull requests, and issue tracking systems. Our findings show that our approach outperforms baseline approaches and achieves an average F1-score of 0.611 when detecting four types of SATD (i.e., code/design debt, requirement debt, documentation debt, and test debt) from the four aforementioned sources. Thereafter, we analyze 23.6M code comments, 1.3M commit messages, 3.7M issue sections, and 1.7M pull request sections to characterize SATD in 103 open-source projects. Furthermore, we investigate the SATD keywords and relations between SATD in different sources. The findings indicate, among others, that: 1) SATD is evenly spread among all sources; 2) issues and pull requests are the two most similar sources regarding the number of shared SATD keywords, followed by commit messages, and then followed by code comments; 3) there are four kinds of relations between SATD items in the different sources.

Technical debt is a metaphor indicating sub-optimal solutions implemented for short-term benefits by sacrificing the long-term maintainability and evolvability of software. A special type of technical debt is explicitly admitted by software engineers (e.g. using a TODO comment); this is called Self-Admitted Technical Debt or SATD. Most work on automatically identifying SATD focuses on source code comments. In addition to source code comments, issue tracking systems have shown to be another rich source of SATD, but there are no approaches specifically for automatically identifying SATD in issues. In this paper, we first create a training dataset by collecting and manually analyzing 4,200 issues (that break down to 23,180 sections of issues) from seven open-source projects (i.e., Camel, Chromium, Gerrit, Hadoop, HBase, Impala, and Thrift) using two popular issue tracking systems (i.e., Jira and Google Monorail). We then propose and optimize an approach for automatically identifying SATD in issue tracking systems using machine learning. Our findings indicate that: 1) our approach outperforms baseline approaches by a wide margin with regard to the F1-score; 2) transferring knowledge from suitable datasets can improve the predictive performance of our approach; 3) extracted SATD keywords are intuitive and potentially indicating types and indicators of SATD; 4) projects using different issue tracking systems have less common SATD keywords compared to projects using the same issue tracking system; 5) a small amount of training data is needed to achieve good accuracy.

Being determined by human social behaviour, pedestrian group dynamics may depend on \"intrinsic properties\" such as the purpose of the pedestrians, their personal relation, gender, age, and body size. In this work we investigate the dynamical properties of pedestrian dyads (distance, spatial formation and velocity) by analysing a large data set of automatically tracked pedestrian trajectories in an unconstrained \"ecological\" setting (a shopping mall), whose apparent physical and social group properties have been analysed by three different human coders. We observed that females walk slower and closer than males, that workers walk faster, at a larger distance and more abreast than leisure oriented people, and that inter-group relation has a strong effect on group structure, with couples walking very close and abreast, colleagues walking at a larger distance, and friends walking more abreast than family members. Pedestrian height (obtained automatically through our tracking system) influences velocity and abreast distance, both growing functions of the average group height. Results regarding pedestrian age show that elderly people walk slowly, while active age adults walk at the maximum velocity. Groups with children have a strong tendency to walk in a non-abreast formation, with a large distance (despite a low abreast distance). A cross-analysis of the interplay between these intrinsic features, taking in account also the effect of an \"extrinsic property\" such as crowd density, confirms these major results but reveals also a richer structure. An interesting and unexpected result, for example, is that the velocity of groups with children increases with density, at least in the low-medium density range found under normal conditions in shopping malls. Children also appear to behave differently according to the gender of the parent.

A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

Developments in visual and tracking systems have expanded virtual reality (VR) applications and led to VR becoming a powerful tool for decision making, planning, and conducting training and experiments across several fields. VR’s goal is to fully immerse a user in a virtual environment through simulating the same kinds of physical and psychological reactions they would experience in the real world. Fidelity is a common and useful concept for distinguishing different VR systems, as a common goal for VR is to provide a high-fidelity experience similar to the real world. The purpose of this study was to provide a comprehensive framework and a scale for evaluating the fidelity of VR systems by addressing their architecture and the factors that affect overall fidelity with respect to the digital sensory and tracking systems used. The proposed framework characterizes itself from other fidelity evaluation frameworks in the involvement of integration and synchronization of VR system data and devices as the main factors in fidelity evaluation. Also, it presents a scale for fidelity evaluation of VR systems and defines high-level useful concepts for distinguishing different VR systems with respect to fidelity.

Labeling issues with the skills required to complete them can help contributors to choose tasks in Open Source Software projects. However, manually labeling issues is time-consuming and error-prone, and current automated approaches are mostly limited to classifying issues as bugs/non-bugs. We investigate the feasibility and relevance of automatically labeling issues with what we call “API-domains,” which are high-level categories of APIs. Therefore, we posit that the APIs used in the source code affected by an issue can be a proxy for the type of skills (e.g., DB, security, UI) needed to work on the issue. We ran a user study (n=74) to assess API-domain labels’ relevancy to potential contributors, leveraged the issues’ descriptions and the project history to build prediction models, and validated the predictions with contributors (n=20) of the projects. Our results show that (i) newcomers to the project consider API-domain labels useful in choosing tasks, (ii) labels can be predicted with a precision of 84% and a recall of 78.6% on average, (iii) the results of the predictions reached up to 71.3% in precision and 52.5% in recall when training with a project and testing in another (transfer learning), and (iv) project contributors consider most of the predictions helpful in identifying needed skills. These findings suggest our approach can be applied in practice to automatically label issues, assisting developers in finding tasks that better match their skills.

With the wide application of UAVs in modern intelligent warfare as well as in civil fields, the demand for C-UAS technology is increasingly urgent. Traditional detection methods have many limitations in dealing with “low, slow, and small” targets. This paper presents a pure laser automatic tracking system based on Geiger-mode avalanche photodiode (Gm-APD). Combining the target motion state prediction of the Kalman filter and the adaptive target tracking of Camshift, a Cam–Kalm algorithm is proposed to achieve high-precision and stable tracking of moving targets. The proposed system also introduces two-dimensional Gaussian fitting and edge detection algorithms to automatically determine the target’s center position and the tracking rectangular box, thereby improving the automation of target tracking. Experimental results show that the system designed in this paper can effectively track UAVs in a 70 m laboratory environment and a 3.07 km to 3.32 km long-distance scene while achieving low center positioning error and MSE. This technology provides a new solution for real-time tracking and ranging of long-distance UAVs, shows the potential of pure laser approaches in long-distancelow, slow, and small target tracking, and provides essential technical support for C-UAS technology.

In this paper, an early prediction of vehicle trajectories and turning movements are investigated using traffic cameras. A vision-based tracking system is developed to monitor intersection videos and collect vehicle trajectories with their labels known as turning movements. Firstly, two intersection videos are monitored for 2 h, and collected trajectories with their labels are used to train deep neural networks and obtain the turning models for the prediction task. Deep neural networks are further investigated on a third intersection with different video settings. The future 2 s evaluation of trajectories shows the success of long short-term memory networks to early predict the turning movements with more than 92% accuracy.

The multi-line laser 3D reconstruction system mainly relies on marking points to acquire 3D data. To simplify the acquisition of 3D data for objects, we use a binocular tracking method to achieve unmarked point stitching of the multi-line laser reconstructed 3D data. The key challenge with this system is the joint calibration between the multi-line laser system and the tracking ball cage. Traditionally, planar calibration plates are used for calibration. However, due to the extensive calibration field, the production of large calibration plates incurs high costs and compromises machining accuracy. As a result, significant joint calibration errors occur between the tracking ball and the multi-line laser system, making high-precision calibration impossible. To solve these problems, an iterative method based on multi-position attitude and conjugate gradient is proposed to achieve high-precision joint calibration. A simple and convenient cross pole with multiple coding points is used as a calibrator. The 3D data of these coding points are determined beforehand using a coordinate measuring machine (CMM). First, the internal and external parameters of the binocular tracking system are calibrated using this cross pole. During the joint calibration process, in which both the multi-line laser system and the tracking ball cage are involved, the cross pole is imaged at different positions simultaneously with the binocular tracking system and the multi-line laser system. This allows us to determine the positions and orientations of both systems relative to each other and relative to the cross pole. The transformation relationship between the multi-line laser system and the tracking ball cage is calibrated using an iterative conjugate gradient optimization algorithm based on these positions and orientations, which completes the entire system calibration and eventually achieves three-dimensional reconstruction of the unmarked points. Compared to conventional planar calibration plate-based methods, our proposed approach requires only one cross pole to perform two crucial calibration steps, improving the joint calibration accuracy. While the final reconstruction accuracy of conventional methods is about 0.1 mm, our proposed method can achieve an accuracy of about 0.02 mm.