Roy Sheffer

Dror G. Feitelson, Ayelet Mizrahi, Nofar Noy et al.

The names of variables and functions serve as implicit documentation and are instrumental for program comprehension. But choosing good meaningful names is hard. We perform a sequence of experiments in which a total of 334 subjects are required to choose names in given programming scenarios. The first experiment shows that the probability that two developers would select the same name is low: in the 47 instances in our experiments the median probability was only 6.9%. At the same time, given that a specific name is chosen, it is usually understood by the majority of developers. Analysis of the names given in the experiment suggests a model where naming is a (not necessarily cognizant or serial) three-step process: (1) selecting the concepts to include in the name, (2) choosing the words to represent each concept, and (3) constructing a name using these words. A followup experiment, using the same experimental setup, then checked whether using this model explicitly can improve the quality of names. The results were that names selected by subjects using the model were judged by two independent judges to be superior to names chosen in the original experiment by a ratio of two-to-one. Using the model appears to encourage the use of more concepts and longer names.

Roy Sheffer, Ami Wiesel

We consider the robust Perspective-n-Point (PnP) problem using a hybrid approach that combines deep learning with model based algorithms. PnP is the problem of estimating the pose of a calibrated camera given a set of 3D points in the world and their corresponding 2D projections in the image. In its more challenging robust version, some of the correspondences may be mismatched and must be efficiently discarded. Classical solutions address PnP via iterative robust non-linear least squares method that exploit the problem's geometry but are either inaccurate or computationally intensive. In contrast, we propose to combine a deep learning initial phase followed by a model-based fine tuning phase. This hybrid approach, denoted by PnP-Net, succeeds in estimating the unknown pose parameters under correspondence errors and noise, with low and fixed computational complexity requirements. We demonstrate its advantages on both synthetic data and real world data.