Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Not really helping with the choosing but I implemented something like that: https://github.com/strands-project/strands_perception_people which is described here: http://eprints.lincoln.ac.uk/17545/1/dondrup.pdf and you can find a video here: https://www.youtube.com/watch?v=zdnvhQU1YNo

What it does is taking different detectors and fusing them using Nearest Neighbour Joint Probabilistic Data Association and uses a Kalman Filter with a constant velocity model to track them. Detectors can be added by just putting them in a config file. They need to publish a PoseArray. If they don't there is tool that is able to make any kind of topic into a PoseArray as long as it publishes a message with a header and x,y,z in it.

The whole repo contains also two detectors. If you are just interested in the tracker, have a look at: https://github.com/strands-project/strands_perception_people/tree/indigo-devel/bayes_people_tracker

Also, this is available as Debian packages from our projects PPA server for Indigo under Ubuntu 14.04 64-bit. Instructions on how to set that up can be found here: http://lncn.eu/strands afterwards it can be installed via apt-get install ros-indigo-bayes-people-tracker

Let me know if you want to give it a try and run into problems.

Not really helping with the choosing but I implemented something like that: https://github.com/strands-project/strands_perception_people which is described here: http://eprints.lincoln.ac.uk/17545/1/dondrup.pdf and you can find a video here: https://www.youtube.com/watch?v=zdnvhQU1YNohttps://www.youtube.com/watch?v=zdnvhQU1YNo (video comes with subtitles in case you don't like our robot's voice ;) )

What it does is taking different detectors and fusing them using Nearest Neighbour Joint Probabilistic Data Association and uses a Kalman Filter with a constant velocity model to track them. Detectors can be added by just putting them in a config file. They need to publish a PoseArray. If they don't there is tool that is able to make any kind of topic into a PoseArray as long as it publishes a message with a header and x,y,z in it.

The whole repo contains also two detectors. If you are just interested in the tracker, have a look at: https://github.com/strands-project/strands_perception_people/tree/indigo-devel/bayes_people_tracker

Also, this is available as Debian packages from our projects PPA server for Indigo under Ubuntu 14.04 64-bit. Instructions on how to set that up can be found here: http://lncn.eu/strands afterwards it can be installed via apt-get install ros-indigo-bayes-people-tracker

Let me know if you want to give it a try and run into problems.