ROS wrapper for real-time multi-person pose estimation with a single camera
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Inclou dades d'ús des de 2022
Cita com:
hdl:2117/110929
Tipus de documentReport de recerca
Data publicació2017
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
For robots to be deployable in human occupied environments, the robots must have human-awareness and generate human-aware behaviors and policies. OpenPose is a library for real-time multi-person keypoint detection. We have considered the implementation of a ROS package that would allow the estimation of 2d pose from simple RGB images, for which we have introduced a ROS wrapper that automatically recovers the pose of several people from a single camera using OpenPose. Additionally, a ROS node to obtain 3d pose estimation from the initial 2d pose estimation when a depth image is synchronized with the RGB image (RGB-D image, such as with a Kinect camera) has been developed. This aim is attained projecting the 2d pose estimation onto the point-cloud of the depth image.
CitacióArduengo, M., Jorgensen, S., Hambuchen, K., Sentis, L., Moreno-Noguer, F., Alenyà, G. "ROS wrapper for real-time multi-person pose estimation with a single camera". 2017.
Forma partIRI-TR-17-02
Fitxers | Descripció | Mida | Format | Visualitza |
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ReportMArduengo6authors-1.pdf | 3,078Mb | Visualitza/Obre |