Package Summary

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

Repository Summary

Checkout URI
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-02
CI status Continuous Integration
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


  • Arita Yuta
  • Masaru Morita



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


  • PCL 1.7+
  • boost
  • ROS(indigo)


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


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 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


Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages


No message files found.


No service files found


No plugins found.

Recent questions tagged target_object_detector at Robotics Stack Exchange