ppokorski / laser_object_tracker

ROS package for Detection and Tracking of Multiple Objects (DATMO), code of my master's thesis "Prediction of Objects' Motion in the Vicinity of Robot".

Dynamic object detection and tracking using planar laser scanners

The laser_object_tracker provides ROS functionality for detection and tracking of moving objects using laser scanners. It aims to be an easily expandable framework with some pre-defined tools and methods. It uses and takes inspiration from both OpenCV and PCL

Requirements

The package is built upon ROS software with heavy usage of OpenCV and PCL, so all of these packages are required. Did I mention it's Linux only? So, to minimal requirements:

• C++14 (maybe C++11 if need be)
• ROS Kinetic
• PCL (developed with ROS-bundled version)
• OpenCV (developed with ROS-bundled version)

Idea

The main idea of the framework is to develop a pipeline consisting of several steps:

• Segmentation - step of dividing sensory data into seperate pieces, each one corresponding to a single object
• Feature extraction - extracting features. What more to say?
• Data association - process of assigning detected objects to existing tracks
• Tracker update - updating tracker with detected objects