People perception modules: detectors and trackers
Hello,
I am working on human-aware navigation and human-robot spatial interaction, therefore, I am looking into different people detectors. In our project we use a ROSyfied version of this detector: www.vision.rwth-aachen.de/publication... which is based on RGB-D data, gives quite reasonable results, and will be made public soon. However, to enhance this detection I am currently looking for other people detection methods (like laser based leg detection) which I can combine with our tracker. Since the detection and tracking is not really part of my work I am looking for existing ROS packages that can be easily installed and trained. Our set-up is comprised of hydro and Ubuntu 12.04 using a sick s300 and an asus xtion
So far I looked at David Lu's fork of the people_experimental: github.com/DLu/people stack, which apart from some compilation errors that are easy to fix, works out of the box but gives very bad results (only detects legs at distances <2m) which I think is because of the bad resolution of our laser (3cm in distance). Due to the non-existent or very well hidden documentation I have no idea how to retrain it with data collected from our robot. Any help on this would be greatly appreciated. Almost all of the other perception algorithms I found or which are mentioned on this site are either not catkinized or are not available as a hydro package. My main question to the community would therefore be: What other people detectors are available for hydro?
Any hints and suggestions would be greatly appreciated.
I am sorry if that question has been asked already. I could only find one similar question which exclusively listed things that do not seem to exist for hydro. If there is a similar thread I would appreciate if you could refer me to it.
Cheers, Christian
P.S.: Apparently my karma is insufficient to publish links. Sorry for the workaround.
FYI, the leg detector from that fork has been merged into the main people repo, and is now available in the debs in hydro.
Thanks Dan, I tried that as well but some of the launch files don't work (wrong paths to config files and included launch files) so I decided to check it out from github because that makes it easier to mend imo. Do you know if there is a more detailed documentation on the usage of the leg_detector than this: http://wiki.ros.org/leg_detector?distro=hydro ?
If something isn't working, please submit a ticket in the issue tracker so we can get it fixed. I'm not aware of any more detailed documentation, but @David Lu might be able to help.
Don't get me wrong, the leg_detector works fine. It is just some of the other components as discussed here: http://answers.ros.org/question/78026/problem-with-leg_detector-and-people_tracking_filter/
You said some of the launch files don't work - I was referring to that.
Ah, OK. Sorry for the confusion. Never used the issue tracker. A link would be nice. Thanks.
https://github.com/wg-perception/people/issues/new