This package lets you use YOLO (v2 or v3) to detect pedestrians.
The left image will be used to display the detected pedestrians alongside the position relative to the camera.
refer to the readme in the yolo_pedestrian_detector folder
The image with the marked pedestrians as well as a vector containing all detected persons (spencer_tracking_msgs::DetectedPersons) are published on the two following topics:
- /zed_yolo_detected_persons/image
- /zed_yolo_detected_persons
There are two different launch files available. One uses a very lightweight YOLOv3 model which is able to run at around 18 FPS on an nvidia jetson agx xavier board. The other launch file uses a heavier YOLOv3 model with slightly better detection accuracy. It is recommended to use the lightweight model.
lighweight model:
- roslaunch yolo_pedestrian_detector pedestrian_detector_tiny.launch
normal model:
- roslaunch yolo_pedestrian_detector pedestrian_detector.launch
The weight files can be downloaded from here:
- https://pjreddie.com/darknet/yolo/ (YOLOv3-tiny and YOLOv3-416)
place the weights files in here: libdarknet/weights