long-term detection, tracking and recognition of people
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Latest commit 92ee683 Oct 1, 2018



Please see perception_people_launch/README.md for start-up information.

When using the default STRANDS perception pipeline, please cite:

  title={Real-time multisensor people tracking for human-robot spatial interaction},
  author={Dondrup, Christian and Bellotto, Nicola and Jovan, Ferdian and Hanheide, Marc},
  booktitle={Workshop on Machine Learning for Social Robotics at International Conference on Robotics and Automation (ICRA)},

This package contains the people perception pipeline. It is comprised of two detectors:

Depricated and moved to attic branch:

  • Ground HOG feature detector

Two trackers:

  • Bayesian People Tracker
  • Pedestrian Tracker (currently depricated)

And a lot of utility and helper nodes. See https://www.youtube.com/watch?v=zdnvhQU1YNo for a concise explanation.

Please refere to the READMEs in the specific packages.