Query: On the Application of ISO 26262 in Control Design for Automated Vehicles

Relevant passages:
A Learning-Based Framework for Velocity Control in Autonomous Driving <=SEP=> We present a framework for autonomous driving which can learn from human demonstrations, and we apply it to the longitudinal control of an autonomous car. Offline, we model car-following strategies from a set of example driving sequences. Online, the model is used to compute accelerations which replicate what a human driver would do in the same situation. This reference acceleration is tracked by a predictive controller which enforces a set of comfort and safety constraints before applying the final acceleration. The controller is designed to be robust to the uncertainty in the predicted motion of the preceding vehicle. In addition, we estimate the confidence of the driver model predictions and use it in the cost function of the predictive controller. As a result, we can handle cases where the training data used to learn the driver model does not provide sufficient information about how a human driver would handle the current driving situation. The approach is validated using a combination of simulations and experiments on our autonomous vehicle.

Challenges in Autonomous Vehicle Testing and Validation <=SEP=> Software testing is all too often simply a bug hunt rather than a wellconsidered exercise in ensuring quality. A more methodical approach than a simple cycle of system-level test-fail-patch-test will be required to deploy safe autonomous vehicles at scale. The ISO 26262 development V process sets up a framework that ties each type of testing to a corresponding design or requirement document, but presents challenges when adapted to deal with the sorts of novel testing problems that face autonomous vehicles. This paper identifies five major challenge areas in testing according to the V model for autonomous vehicles: driver out of the loop, complex requirements, non-deterministic algorithms, inductive learning algorithms, and failoperational systems. General solution approaches that seem promising across these different challenge areas include: phased deployment using successively relaxed operational scenarios, use of a monitor/actuator pair architecture to separate the most complex autonomy functions from simpler safety functions, and fault injection as a way to perform more efficient edge case testing. While significant challenges remain in safety-certifying the type of algorithms that provide high-level autonomy themselves, it seems within reach to instead architect the system and its accompanying design process to be able to employ existing software safety approaches.

A machine learning approach for personalized autonomous lane change initiation and control <=SEP=> We study an algorithm that allows a vehicle to autonomously change lanes in a safe but personalized fashion without the driver's explicit initiation (e.g. activating the turn signals). Lane change initiation in autonomous driving is typically based on subjective rules, functions of the positions and relative velocities of surrounding vehicles. This approach is often arbitrary, and not easily adapted to the driving style preferences of an individual driver. Here we propose a data-driven modeling approach to capture the lane change decision behavior of human drivers. We collect data with a test vehicle in typical lane change situations and train classifiers to predict the instant of lane change initiation with respect to the preferences of a particular driver. We integrate this decision logic into a model predictive control (MPC) framework to create a more personalized autonomous lane change experience that satisfies safety and comfort constraints. We show the ability of the decision logic to reproduce and differentiate between two lane changing styles, and demonstrate the safety and effectiveness of the control framework through simulations.

Kinematic and dynamic vehicle models for autonomous driving control design <=SEP=> We study the use of kinematic and dynamic vehicle models for model-based control design used in autonomous driving. In particular, we analyze the statistics of the forecast error of these two models by using experimental data. In addition, we study the effect of discretization on forecast error. We use the results of the first part to motivate the design of a controller for an autonomous vehicle using model predictive control (MPC) and a simple kinematic bicycle model. The proposed approach is less computationally expensive than existing methods which use vehicle tire models. Moreover it can be implemented at low vehicle speeds where tire models become singular. Experimental results show the effectiveness of the proposed approach at various speeds on windy roads.

Apprenticeship learning for motion planning with application to parking lot navigation <=SEP=> Motion and path-planning algorithms often use complex cost functions for both global navigation and local smoothing of trajectories. Obtaining good results typically requires carefully hand-engineering the trade-offs between different terms in the cost function. In practice, it is often much easier to demonstrate a few good trajectories. In this paper, we describe an efficient algorithm which - when given access to a few trajectory demonstrations - can automatically infer good trade-offs between the different costs. In our experiments, we apply our algorithm to the problem of navigating a robotic car in a parking lot.

Deep or shallow, NLP is breaking out <=SEP=> Neural net advances improve computers' language ability in many fields.

Long-Term Amnesia: A Review and Detailed Illustrative Case Study <=SEP=> Long-term amnesia is a slowly developing form of anterograde amnesia accompanied by retrograde amnesia of variable severity (Kapur, 1996; 1997) often associated with damage to the anterior temporal neocortex and epileptic seizures. The precise neural and functional deficits that underlie this condition are unknown. A patient, JL, who has this condition following a closed-head injury, is described in detail. Her injury caused bilateral anterior temporal neocortex damage that was more extensive on the left and right-sided damage to the perirhinal and orbitofrontal cortices. The hippocampus appeared to be intact bilaterally. Epilepsy developed within two years of JL's injury. Apart from her memory impairments, JL's cognitive functions, including high-level visual perception, attention, semantic memory and executive functions were well preserved. Her memory also seemed well preserved for at least 30 minutes following encoding. The one exception was the patient's relatively greater impairment at difficult visual recognition tests for which verbalization may not have been an effective strategy. This problem may have been caused by JL's right-sided perirhinal and orbitofrontal cortex damage. Her recall and recognition was clearly impaired after a three-week delay. She also showed a retrograde amnesia, which appeared to be milder than her remote post-morbid memory deficit. JL's remote memory was preserved for information first encountered in either the pre- or post-morbid period provided the information had received sufficient rehearsal over long periods of time. Her long-term amnesia may have been caused by anterior temporal neocortex damage, possibly in association with her epileptic seizures. Whether the condition is heterogeneous, involves a deficit in slow consolidation, disruption of unconsolidated memories, or blockage of maintenance or disruption of insufficiently rehearsed memories whether or not these have been slowly consolidated is discussed.

met*: A Method for Discriminating Matonymy and Metaphor by Computer <=SEP=> The met* method distinguishes selected examples of metonymy from metaphor and from literalness and anomaly in short English sentences. In the met* method, literalness is distinguished because it satisfies contextual constraints that the nonliteral others all violate. Metonymy is discriminated from metaphor and anomaly in a way that [1] supports Lakoff and Johnson's (1980) view that in metonymy one entity stands for another whereas in metaphor one entity is viewed as another, [2] permits chains of metonymies (Reddy 1979), and [3] allows metonymies to co-occur with instances of either literalness, metaphor, or anomaly. Metaphor is distinguished from anomaly because the former contains a relevant analogy, unlike the latter. The met* method is part of Collative Semantics, a semantics for natural language processing, and has been implemented in a computer program called meta5. Some examples of meta5's analysis of metaphor and metonymy are given. The met* method is compared with approaches from artificial intelligence, linguistics, philosophy, and psychology.

Genetic engineering of algae for enhanced biofuel production. <=SEP=> There are currently intensive global research efforts aimed at increasing and modifying the accumulation of lipids, alcohols, hydrocarbons, polysaccharides, and other energy storage compounds in photosynthetic organisms, yeast, and bacteria through genetic engineering. Many improvements have been realized, including increased lipid and carbohydrate production, improved H(2) yields, and the diversion of central metabolic intermediates into fungible biofuels. Photosynthetic microorganisms are attracting considerable interest within these efforts due to their relatively high photosynthetic conversion efficiencies, diverse metabolic capabilities, superior growth rates, and ability to store or secrete energy-rich hydrocarbons. Relative to cyanobacteria, eukaryotic microalgae possess several unique metabolic attributes of relevance to biofuel production, including the accumulation of significant quantities of triacylglycerol; the synthesis of storage starch (amylopectin and amylose), which is similar to that found in higher plants; and the ability to efficiently couple photosynthetic electron transport to H(2) production. Although the application of genetic engineering to improve energy production phenotypes in eukaryotic microalgae is in its infancy, significant advances in the development of genetic manipulation tools have recently been achieved with microalgal model systems and are being used to manipulate central carbon metabolism in these organisms. It is likely that many of these advances can be extended to industrially relevant organisms. This review is focused on potential avenues of genetic engineering that may be undertaken in order to improve microalgae as a biofuel platform for the production of biohydrogen, starch-derived alcohols, diesel fuel surrogates, and/or alkanes.

Deep Visuo-Tactile Learning: Estimation of Material Properties from Images <=SEP=> Estimation of materials properties, such as softness or roughness from visual perception is an essential factor in deciding our way of interaction with our environment in e.g., object manipulation tasks or walking. In this research, we propose a method for deep visuo-tactile learning in which we train a encoder-decoder network with an intermediate layer in an unsupervised manner with images as input and tactile sequences as output. Materials properties are then represented in the intermediate layer as a continuous feature space and are estimated from image information. Unlike past studies utilizing tactile sensors focusing on classification for object recognition or recognizing material properties, our method does not require manually designing class labels or annotation, does not cause unknown objects to be classified into known discrete classes, and can be used without a tactile sensor after training. To collect data for training, we have attached a uSkin tactile sensor and a camera to the end-effector of a Sawyer robot to stroke surfaces of 21 different material surfaces. Our results after training show that features are indeed expressed continuously, and that our method is able to handle unknown objects in its feature space.

The use of time-variant EEG Granger causality for inspecting directed interdependencies of neural assemblies <=SEP=> Understanding of brain functioning requires the investigation of activated cortical networks, in particular the detection of interactions between different cortical sites. Commonly, coherence and correlation are used to describe interrelations between EEG signals. However, on this basis, no statements on causality or the direction of their interrelations are possible. Causality between two signals may be expressed in terms of upgrading the predictability of one signal by the knowledge of the immediate past of the other signal. The best-established approach in this context is the so-called Granger causality. The classical estimation of Granger causality requires the stationarity of the signals. In this way, transient pathways of information transfer stay hidden. The study presents an adaptive estimation of Granger causality. Simulations demonstrate the usefulness of the time-variant Granger causality for detecting dynamic causal relations within time intervals of less than 100 ms. The time-variant Granger causality is applied to EEG data from the Stroop task. It was shown that conflict situations generate dense webs of interactions directed from posterior to anterior cortical sites. The web of directed interactions occurs mainly 400 ms after the stimulus onset and lasts up to the end of the task.

An application-specific protocol architecture for wireless microsensor networks <=SEP=> In recent years advances in energy e cient design and wireless technologies have enabled exciting new applications for wireless devices These applications span a wide range including real time and streaming video and audio delivery remote monitoring using networked microsensors personal medical monitoring and home networking of everyday appliances While these applications require high performance from the network they su er from resource constraints that do not appear in more traditional wired computing environments In particular wireless spectrum is scarce often limiting the bandwidth available to applications and making the channel error prone and the nodes are battery operated often limiting available energy My thesis is that this harsh environment with severe resource constraints requires an application speci c protocol architecture rather than the traditional layered approach to obtain the best pos sible performance This dissertation supports this claim using detailed case studies on microsensor networks and wireless video delivery The rst study develops LEACH Low Energy Adaptive Clustering Hierarchy an architecture for remote microsensor networks that combines the ideas of energy e cient cluster based routing and media access together with application speci c data aggregation to achieve good performance in terms of system lifetime latency and application perceived quality This approach improves system lifetime by an order of magnitude compared to general purpose approaches when the node energy is limited The second study develops an unequal error protection scheme for MPEG compressed video delivery that adapts the level of protection applied to portions of a packet to the degree of importance of the corresponding bits This approach obtains better application perceived performance than current approaches for the same amount of transmission bandwidth These two systems show that application speci c protocol architectures achieve the energy and latency e ciency and error robustness needed for wireless networks Thesis Supervisor Anantha P Chandrakasan Title Associate Professor Thesis Supervisor Hari Balakrishnan Title Assistant Professor This thesis is dedicated to the memory of Robert H Rabiner The rst Rabiner at the Tute

'Strong is the new skinny': A content analysis of #fitspiration images on Instagram. <=SEP=> 'Fitspiration' is an online trend designed to inspire viewers towards a healthier lifestyle by promoting exercise and healthy food. This study provides a content analysis of fitspiration imagery on the social networking site Instagram. A set of 600 images were coded for body type, activity, objectification and textual elements. Results showed that the majority of images of women contained only one body type: thin and toned. In addition, most images contained objectifying elements. Accordingly, while fitspiration images may be inspirational for viewers, they also contain a number of elements likely to have negative effects on the viewer's body image.

Service Science <=SEP=> This paper is a first exploration of the relationship between service science and Grid computing. Service science is the study of value co-creation interactions among entities, known as service systems. Within the emerging service science community, service is often defined as the application of competences (resources) for the benefit of another. Grid computing is the study of resource sharing among entities, known as virtual organizations, which solve complex business, societal, scientific, and engineering problems. Within the Grid computing community, service is sometimes defined as protocols plus behavior. Both Grid computing and service science are connecting academic, industry, government, and volunteer sector collaborators on a range of projects including eScience, healthcare, environmental sustainability, and more. This paper compares and contrasts the notions of resource, entity, service, interaction, and success criteria for the two areas of study. In conclusion, new areas for collaborative inquiry are proposed.

A Variable Threshold Voltage CMOS Comparator for Flash Analog to Digital Converter <=SEP=> This paper presents a variable threshold voltage CMOS comparator for flash analog to digital converter. The proposed comparator has single-ended type of architecture. The comparator is designed and analyzed by Cadence Virtuoso Analog Design Environment using UMC 180nm technology. The proposed comparator consumes peak power of 34. 97 ?W from 1. 8 V power supply. It achieves the power delay product (PDP) of 8 fJ and propagation delay of 230 ps. The designed comparator eliminates the requirement of resistive ladder network for reference voltage generation. This makes it highly suitable in the design of flash analog to digital converter.

Global Changes and Drivers of the Water Footprint of Food Consumption : A Historical Analysis <=SEP=> Water is one of the most important limiting resources for food production. How much water is needed for food depends on the size of the population, average food consumption patterns and food production per unit of water. These factors show large differences around the world. This paper analyzes sub-continental dynamics of the water footprint of consumption (WFcons) for the prevailing diets from 1961 to 2009 using data from the Food and Agriculture Organization (FAO). The findings show that, in most regions, the water needed to feed one person decreased even if diets became richer, because of the increase in water use efficiency in food production during the past half-century. The logarithmic mean Divisia index (LMDI) decomposition approach is used to analyze the contributions of the major drivers of WFcons for food: population, diet and agricultural practices (output per unit of water). We compare the contributions of these drivers through different subcontinents, and find that population growth still was the major driver behind increasing WFcons for food until now and that potential water savings through agricultural practice improvements were offset by population growth and diet change. The changes of the factors mentioned above were the largest in most developing areas with rapid economic development. With the development of globalization, the international food trade has brought more and more water savings in global water use over time. The results indicate that, in the near future and in many regions, diet change is likely to override population growth as the major driver behind WFcons for food. OPEN ACCESS

Optimal Sink Deployment for Distributed Sensing of Spatially Nonstationary Phenomena <=SEP=> The optimal deployment of sinks in a sensor region for power efficient data gathering of a physical phenomenon is investigated in this work. In the system of consideration, nodes perform lossless distributed coding of the sensed data and the spatial statistics of the monitored phenomenon are possibly nonstationary due to heterogeneity in the sensing environment (e.g. variations in the altimetric profile). Non-stationary spatial statistics lead to uneven spatial profiles of the bit rates, unlike stationary statistics. The properties of rate profiles and the consequent optimal sink locations for a broad class of spatially non-stationary covariance models are studied by mathematical analysis and numerical examples.

3D convolutional neural networks by modal fusion <=SEP=> We propose multi-view and volumetric convolutional neural networks (ConvNets) for 3D shape recognition, which combines surface normal and height fields to capture local geometry and physical size of an object. This strategy helps distinguishing between objects with similar geometries but different sizes. This is especially useful for enhancing volumetric ConvNets and classifying 3D scans with insufficient surface details. Experimental results on CAD and real-world scan datasets showed that our technique outperforms previous approaches.

The stressed hippocampus, synaptic plasticity and lost memories <=SEP=> Stress is a biologically significant factor that, by altering brain cell properties, can disturb cognitive processes such as learning and memory, and consequently limit the quality of human life. Extensive rodent and human research has shown that the hippocampus is not only crucially involved in memory formation, but is also highly sensitive to stress. So, the study of stress-induced cognitive and neurobiological sequelae in animal models might provide valuable insight into the mnemonic mechanisms that are vulnerable to stress. Here, we provide an overview of the neurobiology of stress–memory interactions, and present a neural–endocrine model to explain how stress modifies hippocampal functioning.

Clustering cancer gene expression data: a comparative study <=SEP=> The use of clustering methods for the discovery of cancer subtypes has drawn a great deal of attention in the scientific community. While bioinformaticians have proposed new clustering methods that take advantage of characteristics of the gene expression data, the medical community has a preference for using "classic" clustering methods. There have been no studies thus far performing a large-scale evaluation of different clustering methods in this context. We present the first large-scale analysis of seven different clustering methods and four proximity measures for the analysis of 35 cancer gene expression data sets. Our results reveal that the finite mixture of Gaussians, followed closely by k-means, exhibited the best performance in terms of recovering the true structure of the data sets. These methods also exhibited, on average, the smallest difference between the actual number of classes in the data sets and the best number of clusters as indicated by our validation criteria. Furthermore, hierarchical methods, which have been widely used by the medical community, exhibited a poorer recovery performance than that of the other methods evaluated. Moreover, as a stable basis for the assessment and comparison of different clustering methods for cancer gene expression data, this study provides a common group of data sets (benchmark data sets) to be shared among researchers and used for comparisons with new methods. The data sets analyzed in this study are available at http://algorithmics.molgen.mpg.de/Supplements/CompCancer/ .

Using ultra-low parasitic hybrid packaging method to reduce high frequency EMI noise for SiC power module <=SEP=> In order to reduce high frequency electromagnetic interference (EMI) noise for SiC devices, this paper presents a hybrid structure SiC power module with low parasitic inductance and low ground capacitance that can suppress EMI efficiently. To certify the improvement on EMI, two buck converters, using the same power loop and gate drive, are built for experiment. Two converters use the proposed power module and TO-247 packaged commercial devices respectively. The experimental results show that low parasitic inductance can increase switching speed considerably while have only slight impact on EMI. And low parasitic ground capacitance can decrease the ground current effectively. Considering soft switching can also reduce EMI, this paper further compares EMI noise of two converters under two conditions: continuous current modulation (CCM) and triangle current modulation (TCM). The result shows that the proposed power module can suppress the common mode (CM) noise effectively at both situations. Furthermore, this paper verifies the noise mode transformation from differential mode (DM) EMI to CM EMI.

MVR: An Architecture for Computation Offloading in Mobile Edge Computing <=SEP=> As communication and sensing capabilities of mobile devices increase, mobile applications are becoming increasingly complex. The ability of computation offloading, which is one of the main features of mobile edge computing gains relevance as a technique to improve the battery lifetime of mobile devices and increase the performance of applications. In this paper, we describe the offloading system model and present an innovative architecture, called "MVR", contributing to computation offloading in mobile edge computing.

A Better Method to Analyze Blockchain Consistency <=SEP=> The celebrated Nakamoto consensus protocol [16] ushered in several new consensus applications including cryptocurrencies. A few recent works [7, 17] have analyzed important properties of blockchains, including most significantly, consistency, which is a guarantee that all honest parties output the same sequence of blocks throughout the execution of the protocol. To establish consistency, the prior analysis of Pass, Seeman and Shelat [17] required a careful counting of certain combinatorial events that was difficult to apply to variations of Nakamoto. The work of Garay, Kiayas, and Leonardas [7] provides another method of analyzing the blockchain under the simplifying assumption that the network was synchronous. The contribution of this paper is the development of a simple Markov-chain based method for analyzing consistency properties of blockchain protocols. The method includes a formal way of stating strong concentration bounds as well as easy ways to concretely compute the bounds. We use our new method to answer a number of basic questions about consistency of blockchains: Our new analysis provides a tighter guarantee on the consistency property of Nakamoto's protocol, including for parameter regimes which [17] could not consider; We analyze a family of delaying attacks first presented in [17], and extend them to other protocols; We analyze how long a participant should wait before considering a high-value transaction "confirmed"; We analyze the consistency of CliqueChain, a variation of the Chainweb [14] system; We provide the first rigorous consistency analysis of GHOST [20] and also analyze a folklore "balancing"-attack. In each case, we use our framework to experimentally analyze the consensus bounds for various network delay parameters and adversarial computing percentages. We hope our techniques enable authors of future blockchain proposals to provide a more rigorous analysis of their schemes.

Cloaking Malware with the Trusted Platform Module <=SEP=> The Trusted Platform Module (TPM) is commonly thought of as hardware that can increase platform security. However, it can also be used for malicious purposes. The TPM, along with other hardware, can implement acloaked computation , whose memory state cannot be observed by any other software, including the operating system and hypervisor. We show that malware can use cloaked computations to hide essential secrets (like the target of an attack) from a malware analyst. We describe and implement a protocol that establishes an encryption key under control of the TPM that can only be used by a specific infection program. An infected host then proves the legitimacy of this key to a remote malware distribution platform, and receives and executes an encrypted payload in a way that prevents software visibility of the decrypted payload. We detail how malware can benefit from cloaked computations and discuss defenses against our protocol. Hardening legitimate uses of the TPM against attack improves the resilience of our malware, creating a Catch-22 for secure computing technology.

Question Generation Shared Task and Evaluation Challenge - Status Report <=SEP=> The First Shared Task Evaluation Challenge on Question Generation took place in 2010 as part of the 3 workshop on Question Generation. The campaign included two tasks: Question Generation from Sentences and Question Generation from Paragraphs. This status report briefly summarizes the motivation, tasks and results. Lessons learned relevant to future QG-STECs are also offered.

Sensor observation streams within cloud-based IoT platforms: Challenges and directions <=SEP=> Observation streams can be considered as a special case of data streams produced by sensors. With the growth of the Internet of Things (IoT), more and more connected sensors will produce unbounded observation streams. In order to bridge the gap between sensors and observation consumers, we have witnessed the design and the development of Cloud-based IoT platforms. Such systems raise new research challenges, in particular regarding observation collection, processing and consumption. These new research challenges are related to observation streams and should be addressed from the implementation phase by developers to build platforms able to meet other non-functional requirements later. Unlike existing surveys, this paper is intended for developers that would like to design and implement a Cloud-based IoT platform capable of handling sensor observation streams. It provides a comprehensive way to understand main observation-related challenges, as well as non-functional requirements of IoT platforms such as platform adaptation, scalability and availability. Last but not the least, it gives recommendations and compares some relevant open-source software that can speed up the development process.

The Effects of Perceived Corporate Social Responsibility on Employee Attitudes <=SEP=> We explore the impact on employee attitudes of their perceptions of how others outside the organization are treated (i.e., corporate social responsibility) above and beyond the impact of how employees are directly treated by the organization. Results of a study of 827 employees in eighteen organizations show that employee perceptions of corporate social responsibility (CSR) are positively related to (a) organizational commitment with the relationship being partially mediated by work meaningfulness and perceived organizational support (POS) and (b) job satisfaction with work meaningfulness partially mediating the relationship but not POS. Moreover, in order to address limited micro-level research in CSR, we develop a measure of employee perceptions of CSR through four pilot studies. Employing a bifactor model, we find that social responsibility has an additional effect on employee attitudes beyond environmental responsibility, which we posit is due to the relational component of social responsibility (e.g., relationships with community).

Steady-State Analysis of the Series Resonant Converter <=SEP=> The series resonant converter is analyzed in steady state, and for constant switching frequency the output current and voltage characteristics are found to be ellipses. The converter operating point can then be easily obtained by superimposing a load line on these elliptical characteristics. Peak resonant capacitor voltage and inductor current are also plotted in the output plane and are dependent to first order only on output current. When peak voltage and current are plotted in this manner, the dependence of component stresses on operating point is clearly revealed. The output characteristics are modified to include the effect of transistor and diode voltage drops, and experimental verification is presented.

CSIFT based locality-constrained linear coding for image classification <=SEP=> In the past decade, SIFT descriptor has been witnessed as one of the most robust local invariant feature descriptors and widely used in various vision tasks. Most traditional image-classification systems depend on the gray-based SIFT descriptors, which only analyze the gray level variations of the images. Misclassification may happen since their color contents are ignored. In this article, we concentrate on improving the performance of existing image-classification algorithms by adding color information. To achieve this purpose, different kinds of colored SIFT descriptors are introduced and implemented. locality-constrained linear coding (LLC), a state-of-the-art sparse coding technology, is employed to construct the image-classification system for the evaluation. Moreover, we propose a simple $$\ell _2$$ ℓ 2 -norm regularized local distance to improve the traditional LLC method. The real experiments are carried out on several benchmarks. With the enhancements to color SIFT and $$\ell _2$$ ℓ 2 -norm regularization, the proposed image-classification system obtains approximately $$2\,\%$$ 2 % improvement of classification accuracy on the Caltech-101 dataset and approximately $$5\,\%$$ 5 % improvement of classification accuracy on the Caltech-256 dataset.

GOT-10k: A Large High-Diversity Benchmark for Generic Object Tracking in the Wild <=SEP=> In this work, we introduce a large high-diversity database for generic object tracking, called GOT-10k. GOT-10k is backboned by the semantic hierarchy of WordNet [1]. It populates a majority of 563 object classes and 87 motion patterns in real-world, resulting in a scale of over 10 thousand video segments and 1.5 million bounding boxes. To our knowledge, GOT-10k is by far the richest motion trajectory dataset, and its coverage of object classes is more than a magnitude wider than similar scale counterparts [20], [23]. By publishing GOT-10k, we hope to encourage the development of generic purposed trackers that work for a wide range of moving objects and under diverse real-world scenarios. To promote generalization and avoid the evaluation results biased to seen classes, we follow the one-shot principle [35] in dataset splitting where training and testing classes are zero-overlapped. We also carry out a series of analytical experiments to select a compact while highly representative testing subset – it embodies 84 object classes and 32 motion patterns with only 180 video segments, allowing for efficient evaluation. Finally, we train and evaluate a number of representative trackers on GOT-10k and analyze their performance. The evaluation results suggest that tracking in real-world unconstrained videos is far from being solved, and only 40% of frames are successfully tracked using top ranking trackers. The database and toolkits are publicly available at https://got-10k.github.io.