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people: face_detector | leg_detector | people_msgs | people_tracking_filter | people_velocity_tracker | social_navigation_layers

Package Summary

Leg Detector using a machine learning approach to find leg-like patterns of laser scanner readings.

people: face_detector | leg_detector | people_msgs | people_tracking_filter | people_velocity_tracker

Package Summary

Leg Detector using a machine learning approach to find leg-like patterns of laser scanner readings.

people: face_detector | leg_detector | people_msgs | people_tracking_filter | people_velocity_tracker

Package Summary

Leg Detector using a machine learning approach to find leg-like patterns of laser scanner readings.

The Leg Detector

This leg detector package takes sensor_msgs/LaserScans as input and uses a machine-learning-trained classifier to detect groups of laser readings as possible legs. Sadly, the training dataset has been lost to Willow Garage history (it wasn't even available before they closed). The code is in the repository for retraining, but is unsupported at this time.

This node will publish people_msgs/PositionMeasurementArrays for the individual legs, and it can also attempt to pair the legs together and publish their average as an estimate of where the center of one person is as a people_msgs/PositionMeasurement. The node will also optionally publish visualization Marker messages to indicate where detections happened.

Possible Usages

There are two ways to use the leg_detector: seeded and unseeded. In the unseeded mode, the only input is the received sensor data. This can provide many false positives, but works in many scenarios.

In the seeded mode, the algorithm will use another source of PositionMeasurement messages to guide the algorithm to possible locations for people. Historically, this has been used with a face detection algorithm that alerts the leg_detector that there is probably a pair of legs underneath. This mode is enabled using the use_seeds parameter.

leg_detector

Subscribed Topics

scan (sensor_msgs/LaserScan) people_tracker_filter (people_msgs/PositionMeasurement)

Published Topics

leg_tracker_measurements (people_msgs/PositionMeasurementArray) people_tracker_measurements (people_msgs/PositionMeasurementArray) visualization_marker (visualization_msgs/Marker)

Parameters

use_seeds (boolean, default: false) connection_threshold (double, default: 0.06) min_points_per_group (int, default: 5) leg_reliability_limit (double, default: 0.7) publish_legs (boolean, default: True) publish_people (boolean, default: True) publish_leg_markers (boolean, default: True) publish_people_markers (boolean, default: True) no_observation_timeout (double, default: 0.5) max_second_leg_age (double, default: 2.0) max_track_jump (double, default: 1.0) max_meas_jump (double, default: 0.75) leg_pair_separation (double, default: 1.0) fixed_frame (string, default: odom_combined) kalman_p (double, default: 4) kalman_q (double, default: .002) kalman_r (double, default: 10)


2019-11-09 12:54