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SSL Vehicle Tracking
Towards a comprehensive package for roadside vehicle tracking.
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About The Project
This project is a ROS2 implementation of a tracking algorithm that can detect and track vehicles on a pressure-sensitive road surface. We developed this approach as a proof of concept in our paper [1], demonstrating that the road surface itself can be used as a data source for vehicle localization. In addition to the algorithm, the package also provides a visualization tool.
Getting Started
This tool is built with the colcon command line interface like any other ROS2 package. Instructions are found here.
Usage
The tracking pipeline needs a topic of type OccupancyGridMap. An example of a launch file can be found in the package ssl_vehicle_tracking. The provided RVIZ packages are automatically detected.
License
Distributed under the MIT License. See LICENSE.txt
for more information.
Acknowledgments
We acknowledge the financial support for this project by the Collaborative Research Center / Transregio 339 of the German Research Foundation (DFG).
References
- [1] S. Schäfer, H. Steidl, S. Kowalewski, B. Alrifaee. "Investigating a Pressure Sensitive Surface Layer for Vehicle Localization". In 34rd IEEE Intelligent Vehicles Symposium (IV) 2023, accepted.