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https://github.com/spencer-project/spencer_people_tracking

This Github repository contains people and group detection and tracking components developed during the EU FP7 project SPENCER for 2D laser, camera and RGB-D data. As the project is still going on, new detection and tracking modules and documentation will still be added during the next 12 months.

Our laser detector (boosted classifier using laser segment features from Arras et al., ICRA'07) is trained on data from an LMS 200 and LMS 500 at around 70 cm height above ground, and it works at ranges up to 15-20 meters, though precision drops at larger distances.

In general, detection results are of course much better when visual data is available (esp. in complex environments). We have also integrated the upper-body RGB-D detector and groundHOG detectors by RWTH Aachen by Jafari et al. mentioned in the original question, as well as the RGB-D people detector from PCL.

All components are tested on ROS Hydro and Indigo. There is also a set of reusable RViz plugins for visualizing the outputs of the perception pipeline.

https://github.com/spencer-project/spencer_people_tracking

This Github repository contains people and group detection and tracking components developed during the EU FP7 project SPENCER for 2D laser, camera and RGB-D data. As the project is still going on, new detection and tracking modules and documentation will still be added during the next 12 months.

Our laser detector (boosted (reimplementation of the boosted classifier using laser segment features from Arras et al., ICRA'07) is trained on data from an LMS 200 and LMS 500 at around 70 cm height above ground, and it works at ranges up to 15-20 meters, though precision drops at larger distances.

In general, detection results are of course much better when visual data is available (esp. in complex environments). We have also integrated the upper-body RGB-D detector and groundHOG detectors by RWTH Aachen by Jafari et al. mentioned in the original question, as well as the RGB-D people detector from PCL.

All components are tested on ROS Hydro and Indigo. There is also a set of reusable RViz plugins for visualizing the outputs of the perception pipeline.