Tweak or customize cost around people on the costmap

asked 2014-03-18 06:32:30 -0600

oswinium
105 ●10 ●12 ●18

Hello,

I want to tweak or customize the costmap my turtlebot generates such that it assigns higher costs to the cells ahead of a moving person, based on his direction of motion. That is, I want it to predict where the person will be in the next few seconds in order to more intelligently perform its path-planning.

I will be using the PCL People Detection Code to first of all detect and recognize that an 'object' is a person. I will be using the costmap_2d and gmapping packages for the costmap generation. So once I combine these two, I assume it's just a matter of detecting the direction of motion and then knowing which cells' costs to elevate.

Any thoughts on how to do this? How do I detect direction of motion? How do I track motion of ONLY 'people objects'? How do I customize and choose which cells to elevate costs?

Thanks.

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answered 2014-03-19 04:43:47 -0600

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

To ellaborate on what Austin said, I worked on precisely this problem.

In the people stack that Austin referenced, there is a laser-based people tracker. Their direction is based on tracking their motion from frame to frame.

Be sure to check out Layered Costmaps in the Hydro navigation package ( http://wiki.ros.org/costmap_2d ). There's a groovy fork in my repo available as well. https://github.com/DLu/navigation/tre... My implementation uses a Proxemics-based layer, the code for which can be found in the social_navigation_layers package in the people stack. https://github.com/DLu/people