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Person/people detection package for 2D-based camera

asked 2014-04-17 01:34:33 -0500

alfa_80 gravatar image

I would like to know if there exist any person/people detection ROS package(s) that uses 2D image data as an input. What I'm aware of, lots of ROS packages available for are meant for the use with Kinect or any 3D-based camera.

Thanks in advance.

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answered 2014-04-17 15:07:29 -0500

Angus gravatar image

updated 2014-05-30 06:57:05 -0500

You might want to check out HOG detector for OpenCV which tries to detect standing pedestrians, although you're going to get a lot of false positives and missed detections from it. Also, it seems they only have documentation on the website for the GPU implementation (i.e. using CUDA) and you'll have to look elsewhere for examples of the CPU implementation.

Another possibility to check out is the OpenCV face detector. Some ROS packages that use this are face_detector (uses stereo images though) and pi_face_tracker (for Groovy though).

In general, detecting people from a moving robot with a monocular camera is still a very difficult and open problem. If your camera is stationary then the problem can be simplified through background subtraction but I don't have any references for that.

For help with using OpenCV in ROS, checkout the vision_opencv package.

Edit: I uploaded my implementation of both of these in a ROS package on Github: https://github.com/angusleigh/hog_haa...

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@Angus Can this code detect people (body) or just faces?

Phelipe gravatar imagePhelipe ( 2015-03-09 07:22:36 -0500 )edit

It can detect both. Give it a shot but don't expect very robust performance from it unless you combine it with a tracking-by-detection method (e.g., a Kalman filter with outlier rejection), geometric constraints (e.g., filtering based on size) or background subtraction.

Angus gravatar imageAngus ( 2015-03-09 11:20:18 -0500 )edit

To which topics this node subcribes, pls post me list of topics it subscribes and publishes.

Kishore Kumar gravatar imageKishore Kumar ( 2015-07-13 09:31:11 -0500 )edit

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Asked: 2014-04-17 01:34:33 -0500

Seen: 1,851 times

Last updated: May 30 '14