2d_lidar_people_tracker

Install

mkdir -p $HOME/ros2_ws/src && cd $HOME/ros2_ws/src
git clone https://github.com/morpheus1820/2d_lidar_people_tracker
pip3 install torch torchvision
pip3 install -r 2d_lidar_people_tracker/requirements.txt
cd $HOME/ros2_ws 
colcon build && source install/setup.bash

Docker

Build the docker image: cd docker && ./build_docker.sh

Run the image: docker/run.sh

Configure

Laser: detector_ros/config/dr_spaam_ros.yaml

• use_gpu: enable CUDA, default True
• detector_model: DROW3 or DR-SPAAM, default DR-SPAAM
• weight_file: model weights, for DR-SPAAM, default "ckpt_jrdb_ann_dr_spaam_e20.pth"

Camera: detector_ros/config/yolo.yaml

• fov: horizontal field of view, default 74
• img_width: default 640

Run

ros2 launch crowd_management_ros pipeline.launch.py (start full group detection)

OR

• Detectors:

ros2 launch detector_ros dr_spaam_ros.launch.py (laser only)

ros2 launch detector_ros dr_spaam_ros_local.launch.py (laser only (CPU) to be launched on r1-base)

ros2 launch detector_ros dr_spaam_ros_remote.launch.py (laser only (GPU) to be launched on remote laptop)

ros2 launch detector_ros yolo.launch.py (camera only)

ros2 launch detector_ros both.launch.py (laser + camera)

• Tracker:

ros2 launch tracker_ros tracker_ros.launch.py (must be launched before Yarp publishes the map)

• Crowd detector:

ros2 launch crowd_management_ros detect_following.launch.py (group detection only)

ros2 launch crowd_management_ros crowd_management.launch.py (group detection + turning around)

• Visualization:

rviz2 -d detector_ros/config/r1-viz.rviz

Acknowledgements

This repository is based on https://github.com/VisualComputingInstitute/2D_lidar_person_detection and the following publications:

@article{Jia2021Person2DRange,
  title        = {{Self-Supervised Person Detection in 2D Range Data using a
                   Calibrated Camera}},
  author       = {Dan Jia and Mats Steinweg and Alexander Hermans and Bastian Leibe},
  booktitle    = {International Conference on Robotics and Automation (ICRA)},
  year         = {2021}
}

@inproceedings{Jia2020DRSPAAM,
  title        = {{DR-SPAAM: A Spatial-Attention and Auto-regressive
                   Model for Person Detection in 2D Range Data}},
  author       = {Dan Jia and Alexander Hermans and Bastian Leibe},
  booktitle    = {International Conference on Intelligent Robots and Systems (IROS)},
  year         = {2020}
}

We thank the authors for their contributions.