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Tweak or customize cost around people on the costmap

asked 2014-03-18 06:32:30 -0500

oswinium gravatar image

Hello,

I want to tweak or customize the costmap my turtlebot generates such that it assigns higher costs to the cells ahead of a moving person, based on his direction of motion. That is, I want it to predict where the person will be in the next few seconds in order to more intelligently perform its path-planning.

I will be using the PCL People Detection Code to first of all detect and recognize that an 'object' is a person. I will be using the costmap_2d and gmapping packages for the costmap generation. So once I combine these two, I assume it's just a matter of detecting the direction of motion and then knowing which cells' costs to elevate.

Any thoughts on how to do this? How do I detect direction of motion? How do I track motion of ONLY 'people objects'? How do I customize and choose which cells to elevate costs?

Thanks.

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answered 2014-03-19 04:43:47 -0500

David Lu gravatar image

To ellaborate on what Austin said, I worked on precisely this problem.

In the people stack that Austin referenced, there is a laser-based people tracker. Their direction is based on tracking their motion from frame to frame.

Be sure to check out Layered Costmaps in the Hydro navigation package ( http://wiki.ros.org/costmap_2d ). There's a groovy fork in my repo available as well. https://github.com/DLu/navigation/tre... My implementation uses a Proxemics-based layer, the code for which can be found in the social_navigation_layers package in the people stack. https://github.com/DLu/people

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Thank you; I'll check those resources out and let you & Austin know whether I still have any questions or not :)

oswinium gravatar imageoswinium ( 2014-03-19 05:16:11 -0500 )edit

Thank you! Those resources were just what I needed to understand how to do this.

mateus03 gravatar imagemateus03 ( 2014-06-04 04:53:08 -0500 )edit
8

answered 2014-03-18 07:26:26 -0500

ahendrix gravatar image

@david-lu did some great research about this very subject during his time at Willow Garage.

He made a great poster, and I think his code is available in his fork of the people stack.

There was also a blog post on the Willow Garage website, but it appears to be down at the moment. there's a mediocre copy in the google cache

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Thank you; I'll check those resources out and let you & David know whether I still have any questions or not :)

oswinium gravatar imageoswinium ( 2014-03-19 05:16:19 -0500 )edit

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Asked: 2014-03-18 06:32:30 -0500

Seen: 651 times

Last updated: Mar 19 '14