spencer_people_tracking:在欧盟FP7项目SPENCER的背景下开发的针对移动机器人的基于ROS的多模式人员检测和跟踪框架

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SPENCER多模式人员检测和跟踪框架 在欧盟FP7项目的背景下开发的针对移动机器人的基于ROS的多模式人员和组检测和跟踪框架。 功能一览 多模式检测:在一个通用框架中的多个RGB-D和2D激光检测器。 人员跟踪:基于最近邻居数据关联的高效跟踪器。 社会关系:通过连贯的运动指标估算人与人之间的空间关系。 群体追踪:根据人群的社会关系来检测和追踪人群。 鲁棒性:各种扩展功能(例如IMM,跟踪启动逻辑和高召回检测器输入)都使人员跟踪器即使在非常动态的环境中也能相对鲁棒地工作。 实时:在游戏笔记本电脑上以20-30 Hz的频率运行,跟踪器本身仅需要1个CPU内核的10%。 可扩展和可重用:结构良好的ROS消息类型和明确定义的接口使集成自定义检测和跟踪组件变得容易。 强大的可视化:一系列可重复使用的RViz插件,可通过单击鼠标进行配置,以及用于生成动画(2D)SVG文件的脚本。 评

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