Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/CIR-KIT/human_detector.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-02
Dev Status MAINTAINED
CI status Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The target_object_detector package

Additional Links

Maintainers

  • Arita Yuta
  • Masaru Morita

Authors

  • CIR-KIT

Target object detector pkg

This is for detecting taget object(human) at Tsukuba Challenge 2016.

  • [ ] コード重複多すぎ
  • [ ] スケーリングパラメータのハードコートは良くない

Requirements

  • PCL 1.7+
  • boost
  • ROS(indigo)

Usage

This package is using 3D pointcloud(pointcloud2) to recognize.

$ roslaunch target_object_detector target_object_detector.launch

  • tf(/map, /base_link and sensor_frame)
  • /amcl_pose (geometry_msgs/PoseWithCovarianceStamped)
  • /hokuyo3d/hokuyo_cloud2

Train

First, make dataset/traian directory in this pkg. Then move there.

roscd target_object_detector
mkdir -p dataset/train
cd dataset/train

Run the segmentation node in the directory.

rosrun target_object_detector segment_cluster_creator_node

Take a poingcloud by running the robot or play bag file include pointclioud2 msg. You will get a lot of pcd files in the directory.
Next, classify the pcd files.

rosrun target_object_detector train_data_create_tool

After classified all pcd files, you will get train.csv in the directory.
Third, making svm model.

roscd targe_object_detector/src/libsvm/tools/
python easy.py path/to/train.csv

Human detection

Actual detection :
roslaunch target_object_detector target_object_detector.launch

Fake detaction:

You can utilied fake_target_detector to assume a target is virtually detected, if you just check navigation behaivior without actual human detection.

A virtually detected target human point can be set by clicking a point in a map with Publish point in Rviz.

The following command shows a coordinate of clicked point.

rostopic echo /clicked_point

Save the coordinate x, y totargetlist/targetlist.csv (a sample file).

To place an virtual target, run the following command.

rosrun fake_target_detector fake_target_detector

Bounding boxes will be showin at positions specified in targetlist.csv and the virtually detected positions are also to be published.

Common specification :

Satisfying all of the following conditions invoke approching to a target.

  • A currently reached waypoint is placed in detecting area.
  • A target human is within 5 [m] from the robot.
  • The target is NOT close to points where other targets are previously detected.

Usage in GAZEBO

1. Start GAZEBO world with human models.

roslaunch cirkit_unit03_autorun autorun_gazebo_with_human.launch

2. Tune robot position with 2D Pose Estimate on Rviz.

3. Move Human models to an arbitary place on Rviz, if needed.

4. Run detector.

roslaunch target_object_detector target_object_detector.launch

CHANGELOG
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Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

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