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/publications/pdf/jafari-realtimergbdtracking-icra14.pdf 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.
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