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hector_worldmodel: hector_object_tracker | hector_worldmodel_geotiff_plugins | object_tracker | worldmodel_msgs

Package Summary

hector_object_tracker is the core package of hector_worldmodel. It listens to percept message from detectors (e.g. heat signatures of persons or recognitions of other objects of interest in the scene) and fuses all information to a single worldmodel state. Objects will be tracked over time and their states can be influenced by a couple of services. The percept to object association problem is solved either automatically based on the Mahalanobis distance, or a unique object_id can be given in the percept message. If a hector_nav_msgs/GetDistanceToObstacle service is available, the object_tracker can optionally deduce the depth of objects in the scene by projection to the nearest obstacle (wall).

hector_worldmodel: hector_object_tracker | hector_worldmodel_geotiff_plugins | hector_worldmodel_msgs | object_tracker

Package Summary

hector_object_tracker is the core package of hector_worldmodel. It listens to percept message from detectors (e.g. heat signatures of persons or recognitions of other objects of interest in the scene) and fuses all information to a single worldmodel state. Objects will be tracked over time and their states can be influenced by a couple of services. The percept to object association problem is solved either automatically based on the Mahalanobis distance, or a unique object_id can be given in the percept message. If a hector_nav_msgs/GetDistanceToObstacle service is available, the object_tracker can optionally deduce the depth of objects in the scene by projection to the nearest obstacle (wall).

hector_worldmodel: hector_object_tracker | hector_worldmodel_geotiff_plugins | hector_worldmodel_msgs

Package Summary

hector_object_tracker is the core package of hector_worldmodel. It listens to percept message from detectors (e.g. heat signatures of persons or recognitions of other objects of interest in the scene) and fuses all information to a single worldmodel state. Objects will be tracked over time and their states can be influenced by a couple of services. The percept to object association problem is solved either automatically based on the Mahalanobis distance, or a unique object_id can be given in the percept message. If a hector_nav_msgs/GetDistanceToObstacle service is available, the object_tracker can optionally deduce the depth of objects in the scene by projection to the nearest obstacle (wall).

hector_worldmodel: hector_object_tracker | hector_worldmodel_geotiff_plugins | hector_worldmodel_msgs

Package Summary

hector_object_tracker is the core package of hector_worldmodel. It listens to percept message from detectors (e.g. heat signatures of persons or recognitions of other objects of interest in the scene) and fuses all information to a single worldmodel state. Objects will be tracked over time and their states can be influenced by a couple of services. The percept to object association problem is solved either automatically based on the Mahalanobis distance, or a unique object_id can be given in the percept message. If a hector_nav_msgs/GetDistanceToObstacle service is available, the object_tracker can optionally deduce the depth of objects in the scene by projection to the nearest obstacle (wall).

hector_worldmodel: hector_object_tracker | hector_worldmodel_geotiff_plugins | hector_worldmodel_msgs

Package Summary

hector_object_tracker is the core package of hector_worldmodel. It listens to percept message from detectors (e.g. heat signatures of persons or recognitions of other objects of interest in the scene) and fuses all information to a single worldmodel state. Objects will be tracked over time and their states can be influenced by a couple of services. The percept to object association problem is solved either automatically based on the Mahalanobis distance, or a unique object_id can be given in the percept message. If a hector_nav_msgs/GetDistanceToObstacle service is available, the object_tracker can optionally deduce the depth of objects in the scene by projection to the nearest obstacle (wall).

hector_worldmodel: hector_object_tracker | hector_worldmodel_geotiff_plugins | hector_worldmodel_msgs

Package Summary

hector_object_tracker is the core package of hector_worldmodel. It listens to percept message from detectors (e.g. heat signatures of persons or recognitions of other objects of interest in the scene) and fuses all information to a single worldmodel state. Objects will be tracked over time and their states can be influenced by a couple of services. The percept to object association problem is solved either automatically based on the Mahalanobis distance, or a unique object_id can be given in the percept message. If a hector_nav_msgs/GetDistanceToObstacle service is available, the object_tracker can optionally deduce the depth of objects in the scene by projection to the nearest obstacle (wall).

Overview

This package provides a node for tracking the position of objects of interest as described in this paper

@INPROCEEDINGS{Meyer:2010:WorldModel,
  author = {J. Meyer and P. Schnitzspan and S. Kohlbrecher and K. Petersen and O. Schwahn and M. Andriluka and U. Klingauf and S. Roth and B. Schiele and O. von Stryk},
  title = {A Semantic World Model for Urban Search and Rescue Based on Heterogeneous Sensors},
  year = {2011},
  pages = {180 -- 193},
  editor = {Ruiz-del-Solar, Javier and Chown, Eric and Ploeger, Paul G.},
  series = {Lecture Notes in Computer Science, Lecture Notes in Artificial Intelligence},
  booktitle = {RoboCup 2010: Robot Soccer World Cup XIV},
  url = {https://springerlink3.metapress.com/content/n515v876ll57334l/resource-secured/?target=fulltext.pdf&sid=yyw2tr55m2on31z0hpufyw55&sh=www.springerlink.com},
}

ROS API

hector_object_tracker

hector_object_tracker is the central node of hector_worldmodel. It maintains a list of known objects in the environment and implements the association of incoming observations (percepts) and tracking. The observations have to be provided by at least one external node which implements a detector for certain object classes.

Subscribed Topics

worldmodel/image_percept (hector_worldmodel_msgs/ImagePercept) worldmodel/pose_percept (hector_worldmodel_msgs/PosePercept) worldmodel/update (hector_worldmodel_msgs/ObjectModel) syscommand (std_msgs/String)

Published Topics

worldmodel/object (hector_worldmodel_msgs/Object) worldmodel/objects (hector_worldmodel_msgs/ObjectModel) visualization_marker (visualization_msgs/Marker) visualization_marker_array (visualization_msgs/MarkerArray)

Services

worldmodel/get_object_model (hector_worldmodel_msgs/GetObjectModel) worldmodel/set_object_state (hector_worldmodel_msgs/SetObjectState) worldmodel/set_object_name (hector_worldmodel_msgs/SetObjectName) worldmodel/add_object (hector_worldmodel_msgs/AddObject)

Services Called

get_distance_to_obstacle (hector_nav_msgs/GetDistanceToObstacle) get_normal (hector_nav_msgs/GetNormal) as specified by parameters (hector_worldmodel_msgs/VerifyPercept) as specified by parameters (hector_worldmodel_msgs/VerifyObject)

Parameters

~frame_id (string, default: map) ~worldmodel_ns (string, default: worldmodel) ~publish_interval (double, default: 0.0) ~[class_id/]project_objects (boolean, default: false) ~[class_id/]with_orientation (boolean, default: false) ~[class_id/]default_distance (double, default: 1.0) ~[class_id/]distance_variance (double, default: 1.0^2) ~[class_id/]angle_variance (double, default: (10 degrees)^2) ~[class_id/]min_height (double, default: -999.9) ~[class_id/]max_height (double, default: 999.9) ~[class_id/]pending_support (double, default: 0) ~[class_id/]active_support (double, default: 0) ~[class_id/]inactive_support (double, default: 0) ~[class_id/]min_distance_between_objects (double, default: 0) ~[class_id/]marker_color (double[], default: [0.8, 0, 0, 1.0] (red)) ~[class_id/]distance_to_obstacle_service (string, default: get_distance_to_obstacle) ~[class_id/]get_normal_service (string, default: empty) ~negative_update[i]/topic (string) ~negative_update[i]/class_id (string) ~negative_update[i]/min_distance (double, default: 0) ~negative_update[i]/max_distance (double, default: 0) ~negative_update[i]/ignore_border_pixels (double, default: 0) ~negative_update[i]/not_seen_duration (double, default: 0 (off))

See object_tracker.launch for a sample configuration.


2019-11-09 12:43