111,686 research outputs found
Adoption of vehicular ad hoc networking protocols by networked robots
This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan
Spatio-Temporal Action Detection with Cascade Proposal and Location Anticipation
In this work, we address the problem of spatio-temporal action detection in
temporally untrimmed videos. It is an important and challenging task as finding
accurate human actions in both temporal and spatial space is important for
analyzing large-scale video data. To tackle this problem, we propose a cascade
proposal and location anticipation (CPLA) model for frame-level action
detection. There are several salient points of our model: (1) a cascade region
proposal network (casRPN) is adopted for action proposal generation and shows
better localization accuracy compared with single region proposal network
(RPN); (2) action spatio-temporal consistencies are exploited via a location
anticipation network (LAN) and thus frame-level action detection is not
conducted independently. Frame-level detections are then linked by solving an
linking score maximization problem, and temporally trimmed into spatio-temporal
action tubes. We demonstrate the effectiveness of our model on the challenging
UCF101 and LIRIS-HARL datasets, both achieving state-of-the-art performance.Comment: Accepted at BMVC 2017 (oral
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