ROS package to detect and track pedestrians from planar laserscans of their legs.
The message definitions for detections and tracks are not provided, but can be easily reverse-engineered from the main node's source code.
00033_fast_comp.mp4
The above video shows results of pedestrian tracking with this repository's code. It shows the positions of pedestrians (circles in various colors) which are tracked from a mobile robot (black circle), as well as their velocity estimates (red arrows). Note that the video is rendered slower than real time.
The code is released under the license GNU GPLv3.
Author: David J. Gonon
Contact: david[dot]gonon[at]epfl[dot]ch