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dc.contributor.authorArduengo García, Miguel
dc.contributor.authorJorgensen, Steven Jens
dc.contributor.authorHambuchen, Kimberly
dc.contributor.authorSentis, Luis
dc.contributor.authorMoreno-Noguer, Francesc
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2017-11-20T15:26:26Z
dc.date.available2017-11-20T15:26:26Z
dc.date.issued2017
dc.identifier.citationArduengo, 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.
dc.identifier.urihttp://hdl.handle.net/2117/110929
dc.description.abstractFor 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.
dc.format.extent57 p.
dc.language.isoeng
dc.relation.ispartofseriesIRI-TR-17-02
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherrobots
dc.titleROS wrapper for real-time multi-person pose estimation with a single camera
dc.typeExternal research report
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
local.identifier.drac21561113
dc.description.versionPreprint
local.citation.authorArduengo, M.; Jorgensen, S.; Hambuchen, K.; Sentis, L.; Moreno-Noguer, F.; Alenyà, G.


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