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Collection of packages for detecting and identifying faces, detecting and tracking humans with RGB-D sensors or laser scanners, and fusing detections.


Following functionalities are found in the packages:

cob_people_detection: Detects persons through head and face detection and identifies the detected faces. The results are tracked over time to increase confidence. The system is optimized to be used with a Microsoft Kinect or Asus Xtion Pro Live sensor but could also handle different sensors as long as depth and color images are provided. See cob_people_detection for details.

cob_dual_leg_tracker: Tracks persons as pairs of legs in a laser scan

cob_leg_detection: detects and tracks legs in a laser scan (used by cob_dual_leg_tracker)

cob_people_tracking_filter: tracking of detections (used by cob_leg_detection and cob_dual_leg_tracker).

cob_people_fusion: fuse people detections from various sources

cob_openni2_tracker: wrapper for the openni2_tracker that detects humans in the Kinect point cloud and tracks their skeleton. See cob_openni2_tracker for details.

libnite2: Helper library for cob_openni2_tracker, wrapper for downloading and compiling the NiTE library.


Please consult ros answers to see if your problem is already known.

Please use the mailing list for additional support or feature discussion.

2024-06-15 12:54