This is the perception pipeline for the CROWDBOT project, featuring person detection and tracking from multi-sensor modalities.
The project is based on earlier works from the SPENCER project[repo], [repo].
New features include:
- Adaption for operating on Jetson AGX
- YOLOv3 with TensorRT acceleration for fast RGB-based person detection
- DROW3/DR-SPAAM for person detection with 2D LiDAR sensors
- [OPTIONAL] Optical flow aided tracking
- [OPTIONAL] 3D person pose analysis
- [OPTIONAL] Person ReID
For setting up, refer to rwth_crowdbot_launch/README.md.
- SPENCER tracking pipeline
[repo],[repo] - YOLOv3 with TensorRT
- darknet_ros for person detection
- DROW3 and DR-SPAAM for 2D-LiDAR-based person detection
- MeTRAbs for monocular 3D pose estimation
- pwc_net for optical flow estimation