JHermosillaD / pose_estimate_demo

People detection using histograms of oriented gradients and Haar cascades and the estimation of their position by transforming the coordinates of their bounding boxes into xyz coordinates

ROS package for human detection and position estimation

ROS package for the detection of persons using histograms of oriented gradients and Haar cascades and the estimation of their position by transforming the coordinates of their bounding box into xyz coordinates with respect to the base_link reference frame.

Set-up

Requirements

• ROS melodic or higher
• OpenCV
• HOG detector package
• Haar cascade detector package
• Bounding Box position estimator package
• Marker package

Installation

Clone the repository to the workspace source path.

user@hostname:~/workspace/src$ git clone https://github.com/JHermosillaD/pose_estimate_demo.git

Compile the package.

user@hostname:~/workspace$ catkin_make

Usage

Run the launcher.

user@hostname:~/workspace$ roslaunch pose_estimate_demo demo.launch

Visualization

The image containing the bounding box, the marker and coordinate frames can be displayed in Rviz, the coordinates through topic command line.